Generate parameters for IMU Sensor Broadcaster (#399)

imu_sensor_broadcaster/CMakeLists.txt

@@ -13,50 +13,43 @@ endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
     controller_interface
-    sensor_msgs
+    generate_parameter_library
     hardware_interface
     pluginlib
     rclcpp
     rclcpp_lifecycle
     realtime_tools
+    sensor_msgs
 )
 
 find_package(ament_cmake REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
 
+generate_parameter_library(imu_sensor_broadcaster_parameters
+  src/imu_sensor_broadcaster_parameters.yaml
+)
+
 add_library(
-  ${PROJECT_NAME}
-  SHARED
+  imu_sensor_broadcaster SHARED
   src/imu_sensor_broadcaster.cpp
 )
-target_include_directories(
-  ${PROJECT_NAME}
-  PUBLIC
-  include
+target_include_directories(imu_sensor_broadcaster
+  PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  PRIVATE $<INSTALL_INTERFACE:include>
 )
-ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_target_dependencies(imu_sensor_broadcaster ${THIS_PACKAGE_INCLUDE_DEPENDS})
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "IMU_SENSOR_BROADCASTER_BUILDING_DLL")
+target_compile_definitions(imu_sensor_broadcaster PRIVATE "IMU_SENSOR_BROADCASTER_BUILDING_DLL")
+target_link_libraries(imu_sensor_broadcaster
+  imu_sensor_broadcaster_parameters
+)
 
 pluginlib_export_plugin_description_file(
   controller_interface imu_sensor_broadcaster.xml)
 
-install(
-  TARGETS
-  ${PROJECT_NAME}
-  RUNTIME DESTINATION bin
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-)
-
-install(
-  DIRECTORY include/
-  DESTINATION include
-)
-
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(controller_manager REQUIRED)
@@ -80,7 +73,7 @@ if(BUILD_TESTING)
   )
   target_include_directories(test_imu_sensor_broadcaster PRIVATE include)
   target_link_libraries(test_imu_sensor_broadcaster
-    ${PROJECT_NAME}
+    imu_sensor_broadcaster
   )
   ament_target_dependencies(test_imu_sensor_broadcaster
     hardware_interface
@@ -92,14 +85,22 @@ if(BUILD_TESTING)
   )
 endif()
 
-ament_export_include_directories(
-  include
-)
-ament_export_libraries(
-  ${PROJECT_NAME}
+install(
+  DIRECTORY include/
+  DESTINATION include
 )
-ament_export_dependencies(
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+
+install(
+  TARGETS
+    imu_sensor_broadcaster
+    imu_sensor_broadcaster_parameters
+  EXPORT export_imu_sensor_broadcaster
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  INCLUDES DESTINATION include
 )
 
+ament_export_targets(export_imu_sensor_broadcaster HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()

imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp

@@ -25,6 +25,7 @@
 
 #include "controller_interface/controller_interface.hpp"
 #include "imu_sensor_broadcaster/visibility_control.h"
+#include "imu_sensor_broadcaster_parameters.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_publisher.h"
@@ -61,8 +62,8 @@ class IMUSensorBroadcaster : public controller_interface::ControllerInterface
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
 protected:
-  std::string sensor_name_;
-  std::string frame_id_;
+  std::shared_ptr<ParamListener> param_listener_;
+  Params params_;
 
   std::unique_ptr<semantic_components::IMUSensor> imu_sensor_;
 

imu_sensor_broadcaster/package.xml

@@ -12,6 +12,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>controller_interface</depend>
+  <depend>generate_parameter_library</depend>
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>

imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp

@@ -27,8 +27,8 @@ controller_interface::CallbackReturn IMUSensorBroadcaster::on_init()
 {
   try
   {
-    auto_declare<std::string>("sensor_name", "");
-    auto_declare<std::string>("frame_id", "");
+    param_listener_ = std::make_shared<ParamListener>(get_node());
+    params_ = param_listener_->get_params();
   }
   catch (const std::exception & e)
   {
@@ -43,22 +43,22 @@ controller_interface::CallbackReturn IMUSensorBroadcaster::on_init()
 controller_interface::CallbackReturn IMUSensorBroadcaster::on_configure(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
-  sensor_name_ = get_node()->get_parameter("sensor_name").as_string();
-  if (sensor_name_.empty())
+
+  params_ = param_listener_->get_params();
+  if (params_.sensor_name.empty())
   {
     RCLCPP_ERROR(get_node()->get_logger(), "'sensor_name' parameter has to be specified.");
     return CallbackReturn::ERROR;
   }
 
-  frame_id_ = get_node()->get_parameter("frame_id").as_string();
-  if (frame_id_.empty())
+  if (params_.frame_id.empty())
   {
     RCLCPP_ERROR(get_node()->get_logger(), "'frame_id' parameter has to be provided.");
     return CallbackReturn::ERROR;
   }
 
-  imu_sensor_ =
-    std::make_unique<semantic_components::IMUSensor>(semantic_components::IMUSensor(sensor_name_));
+  imu_sensor_ = std::make_unique<semantic_components::IMUSensor>(
+    semantic_components::IMUSensor(params_.sensor_name));
   try
   {
     // register ft sensor data publisher
@@ -75,7 +75,7 @@ controller_interface::CallbackReturn IMUSensorBroadcaster::on_configure(
   }
 
   realtime_publisher_->lock();
-  realtime_publisher_->msg_.header.frame_id = frame_id_;
+  realtime_publisher_->msg_.header.frame_id = params_.frame_id;
   realtime_publisher_->unlock();
 
   RCLCPP_DEBUG(get_node()->get_logger(), "configure successful");

imu_sensor_broadcaster/src/imu_sensor_broadcaster_parameters.yaml

@@ -0,0 +1,11 @@
+imu_sensor_broadcaster:
+  sensor_name: {
+    type: string,
+    default_value: "",
+    description: "Name of the sensor used as prefix for interfaces if there are no individual interface names defined.",
+  }
+  frame_id: {
+    type: string,
+    default_value: "",
+    description: "Sensor's frame_id in which values are published.",
+  }