Add ParameterDescriptor override from yaml

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -44,16 +44,6 @@ namespace rclcpp
 namespace node_interfaces
 {
 
-// Internal struct for holding useful info about parameters
-struct ParameterInfo
-{
-  /// Current value of the parameter.
-  rclcpp::ParameterValue value;
-
-  /// A description of the parameter
-  rcl_interfaces::msg::ParameterDescriptor descriptor;
-};
-
 // Internal RAII-style guard for mutation recursion
 class ParameterMutationRecursionGuard
 {
@@ -200,7 +190,7 @@ class NodeParameters : public NodeParametersInterface
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) override;
 
   RCLCPP_PUBLIC
-  const std::map<std::string, rclcpp::ParameterValue> &
+  const std::map<std::string, ParameterInfo> &
   get_parameter_overrides() const override;
 
   using CallbacksContainerType = std::list<OnSetParametersCallbackHandle::WeakPtr>;
@@ -221,7 +211,7 @@ class NodeParameters : public NodeParametersInterface
 
   std::map<std::string, ParameterInfo> parameters_;
 
-  std::map<std::string, rclcpp::ParameterValue> parameter_overrides_;
+  std::map<std::string, ParameterInfo> parameter_overrides_;
 
   bool allow_undeclared_ = false;
 

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -228,7 +228,7 @@ class NodeParametersInterface
   /// Return the initial parameter values used by the NodeParameters to override default values.
   RCLCPP_PUBLIC
   virtual
-  const std::map<std::string, rclcpp::ParameterValue> &
+  const std::map<std::string, ParameterInfo> &
   get_parameter_overrides() const = 0;
 };
 

rclcpp/include/rclcpp/parameter.hpp

@@ -22,6 +22,7 @@
 #include <vector>
 
 #include "rcl_interfaces/msg/parameter.hpp"
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/parameter_value.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -33,7 +34,15 @@ class Parameter;
 
 namespace node_interfaces
 {
-struct ParameterInfo;
+// Internal struct for holding useful info about parameters
+struct ParameterInfo
+{
+  /// Current value of the parameter.
+  rclcpp::ParameterValue value;
+
+  /// A description of the parameter
+  rcl_interfaces::msg::ParameterDescriptor descriptor;
+};
 }  // namespace node_interfaces
 
 namespace detail

rclcpp/include/rclcpp/parameter_map.hpp

@@ -20,18 +20,23 @@
 
 #include <string>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/parameter_value.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
 
 namespace rclcpp
 {
 
 /// A map of fully qualified node names to a list of parameters
-using ParameterMap = std::unordered_map<std::string, std::vector<Parameter>>;
+using rcl_interfaces::msg::ParameterDescriptor;
+using ParameterAndDescriptor = std::unordered_map<std::string,
+    rclcpp::node_interfaces::ParameterInfo>;
+using ParameterMap = std::unordered_map<std::string, ParameterAndDescriptor>;
 
 /// Convert parameters from rcl_yaml_param_parser into C++ class instances.
 /// \param[in] c_params C structures containing parameters for multiple nodes.
@@ -49,6 +54,12 @@ RCLCPP_PUBLIC
 ParameterValue
 parameter_value_from(const rcl_variant_t * const c_value);
 
+RCLCPP_PUBLIC
+rcl_interfaces::msg::ParameterDescriptor
+parameter_descriptor_from(
+  const char * const name,
+  const rcl_param_descriptor_t * const c_descriptor);
+
 /// Get the ParameterMap from a yaml file.
 /// \param[in] yaml_filename full name of the yaml file.
 /// \returns an instance of a parameter map

rclcpp/src/rclcpp/detail/resolve_parameter_overrides.cpp

@@ -23,14 +23,14 @@
 #include "rclcpp/scope_exit.hpp"
 #include "rclcpp/parameter_map.hpp"
 
-std::map<std::string, rclcpp::ParameterValue>
+std::map<std::string, rclcpp::node_interfaces::ParameterInfo>
 rclcpp::detail::resolve_parameter_overrides(
   const std::string & node_fqn,
   const std::vector<rclcpp::Parameter> & parameter_overrides,
   const rcl_arguments_t * local_args,
   const rcl_arguments_t * global_args)
 {
-  std::map<std::string, rclcpp::ParameterValue> result;
+  std::map<std::string, rclcpp::node_interfaces::ParameterInfo> result;
 
   // global before local so that local overwrites global
   std::array<const rcl_arguments_t *, 2> argument_sources = {global_args, local_args};
@@ -59,9 +59,9 @@ rclcpp::detail::resolve_parameter_overrides(
       for (const auto & node_name : node_matching_names) {
         if (initial_map.count(node_name) > 0) {
           // Combine parameter yaml files, overwriting values in older ones
-          for (const rclcpp::Parameter & param : initial_map.at(node_name)) {
-            result[param.get_name()] =
-              rclcpp::ParameterValue(param.get_value_message());
+          for (const auto & param : initial_map.at(node_name)) {
+            result[param.first] = param.second;
+            result[param.first].descriptor.dynamic_typing = true;
           }
         }
       }
@@ -70,7 +70,7 @@ rclcpp::detail::resolve_parameter_overrides(
 
   // parameter overrides passed to constructor will overwrite overrides from yaml file sources
   for (auto & param : parameter_overrides) {
-    result[param.get_name()] =
+    result[param.get_name()].value =
       rclcpp::ParameterValue(param.get_value_message());
   }
   return result;

rclcpp/src/rclcpp/detail/resolve_parameter_overrides.hpp

@@ -31,7 +31,7 @@ namespace detail
 {
 /// \internal Get the parameter overrides from the arguments.
 RCLCPP_LOCAL
-std::map<std::string, rclcpp::ParameterValue>
+std::map<std::string, rclcpp::node_interfaces::ParameterInfo>
 resolve_parameter_overrides(
   const std::string & node_name,
   const std::vector<rclcpp::Parameter> & parameter_overrides,

rclcpp/src/rclcpp/node.cpp

@@ -133,7 +133,7 @@ get_parameter_events_qos(
     auto param_name = prefix + rclcpp::qos_policy_kind_to_cstr(policy);
     auto it = parameter_overrides.find(param_name);
     auto value = it != parameter_overrides.end() ?
-      it->second :
+      it->second.value :
       rclcpp::detail::get_default_qos_param_value(policy, options.parameter_event_qos());
     rclcpp::detail::apply_qos_override(policy, value, final_qos);
   }

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -102,13 +102,14 @@ NodeParameters::NodeParameters(
   // If asked, initialize any parameters that ended up in the initial parameter values,
   // but did not get declared explcitily by this point.
   if (automatically_declare_parameters_from_overrides) {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.dynamic_typing = true;
     for (const auto & pair : this->get_parameter_overrides()) {
       if (!this->has_parameter(pair.first)) {
+        rcl_interfaces::msg::ParameterDescriptor descriptor;
+        descriptor = pair.second.descriptor;
+        descriptor.dynamic_typing = true;
         this->declare_parameter(
           pair.first,
-          pair.second,
+          pair.second.value,
           descriptor,
           true);
       }
@@ -332,7 +333,7 @@ __declare_parameter_common(
   const rclcpp::ParameterValue & default_value,
   const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
   std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters_out,
-  const std::map<std::string, rclcpp::ParameterValue> & overrides,
+  const std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & overrides,
   CallbacksContainerType & callback_container,
   const OnParametersSetCallbackType & callback,
   rcl_interfaces::msg::ParameterEvent * parameter_event_out,
@@ -345,8 +346,19 @@ __declare_parameter_common(
   // Use the value from the overrides if available, otherwise use the default.
   const rclcpp::ParameterValue * initial_value = &default_value;
   auto overrides_it = overrides.find(name);
+
+  // If override for parameter value, use it
+  // If parameter override only, don't override descriptor
+  // If override for descriptor, use it
+  // If descriptor override only, don't override parameter value
+
   if (!ignore_override && overrides_it != overrides.end()) {
-    initial_value = &overrides_it->second;
+    if (overrides_it->second.value.get_type() != rclcpp::ParameterType::PARAMETER_NOT_SET) {
+      initial_value = &overrides_it->second.value;
+    }
+    if (overrides_it->second.descriptor.name != "") {
+      parameter_infos[name].descriptor = overrides_it->second.descriptor;
+    }
   }
 
   // If there is no initial value, then skip initialization
@@ -397,7 +409,7 @@ declare_parameter_helper(
   rcl_interfaces::msg::ParameterDescriptor parameter_descriptor,
   bool ignore_override,
   std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters,
-  const std::map<std::string, rclcpp::ParameterValue> & overrides,
+  const std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & overrides,
   CallbacksContainerType & callback_container,
   const OnParametersSetCallbackType & callback,
   rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent> * events_publisher,
@@ -1002,7 +1014,7 @@ NodeParameters::add_on_set_parameters_callback(OnParametersSetCallbackType callb
   return handle;
 }
 
-const std::map<std::string, rclcpp::ParameterValue> &
+const std::map<std::string, rclcpp::node_interfaces::ParameterInfo> &
 NodeParameters::get_parameter_overrides() const
 {
   return parameter_overrides_;

rclcpp/src/rclcpp/parameter_client.cpp

@@ -308,7 +308,7 @@ AsyncParametersClient::load_parameters(
       (node_name == remote_name))
     {
       for (const auto & param : params.second) {
-        parameters.push_back(param);
+        parameters.push_back(rclcpp::Parameter(param.second));
       }
     }
   }

rclcpp/src/rclcpp/parameter_map.cpp

@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <limits>
 #include <string>
 #include <vector>
 
@@ -21,6 +22,9 @@ using rclcpp::exceptions::InvalidParametersException;
 using rclcpp::exceptions::InvalidParameterValueException;
 using rclcpp::ParameterMap;
 using rclcpp::ParameterValue;
+using rcl_interfaces::msg::ParameterDescriptor;
+using rcl_interfaces::msg::FloatingPointRange;
+using rcl_interfaces::msg::IntegerRange;
 
 ParameterMap
 rclcpp::parameter_map_from(const rcl_params_t * const c_params)
@@ -49,11 +53,9 @@ rclcpp::parameter_map_from(const rcl_params_t * const c_params)
       node_name = c_node_name;
     }
 
-    const rcl_node_params_t * const c_params_node = &(c_params->params[n]);
-
-    std::vector<Parameter> & params_node = parameters[node_name];
-    params_node.reserve(c_params_node->num_params);
+    ParameterAndDescriptor & params = parameters[node_name];
 
+    const rcl_node_params_t * const c_params_node = &(c_params->params[n]);
     for (size_t p = 0; p < c_params_node->num_params; ++p) {
       const char * const c_param_name = c_params_node->parameter_names[p];
       if (NULL == c_param_name) {
@@ -62,7 +64,21 @@ rclcpp::parameter_map_from(const rcl_params_t * const c_params)
         throw InvalidParametersException(message);
       }
       const rcl_variant_t * const c_param_value = &(c_params_node->parameter_values[p]);
-      params_node.emplace_back(c_param_name, parameter_value_from(c_param_value));
+      params[c_param_name].value = parameter_value_from(c_param_value);
+    }
+
+    const rcl_node_params_descriptors_t * const c_param_descriptors_node =
+      &(c_params->descriptors[n]);
+    for (size_t p = 0; p < c_param_descriptors_node->num_descriptors; ++p) {
+      const char * const c_param_name = c_param_descriptors_node->parameter_names[p];
+      if (NULL == c_param_name) {
+        std::string message(
+          "At node " + std::to_string(n) + " parameter " + std::to_string(p) + " name is NULL");
+        throw InvalidParametersException(message);
+      }
+      const rcl_param_descriptor_t * const c_param_descriptor =
+        &(c_param_descriptors_node->parameter_descriptors[p]);
+      params[c_param_name].descriptor = parameter_descriptor_from(c_param_name, c_param_descriptor);
     }
   }
   return parameters;
@@ -127,6 +143,85 @@ rclcpp::parameter_value_from(const rcl_variant_t * const c_param_value)
   throw InvalidParameterValueException("No parameter value set");
 }
 
+ParameterDescriptor
+rclcpp::parameter_descriptor_from(
+  const char * const name,
+  const rcl_param_descriptor_t * const c_param_descriptor)
+{
+  if (NULL == c_param_descriptor) {
+    throw InvalidParameterValueException("Passed argument is NULL");
+  }
+  ParameterDescriptor p;
+
+  if (name) {
+    p.name = std::string(name);
+  }
+  if (c_param_descriptor->type) {
+    p.type = *(c_param_descriptor->type);
+  }
+  if (c_param_descriptor->description) {
+    p.description = std::string(c_param_descriptor->description);
+  }
+  if (c_param_descriptor->additional_constraints) {
+    p.additional_constraints = std::string(c_param_descriptor->additional_constraints);
+  }
+  if (c_param_descriptor->read_only) {
+    p.read_only = *(c_param_descriptor->read_only);
+  }
+
+  if (c_param_descriptor->dynamic_typing) {
+    p.dynamic_typing = *(c_param_descriptor->dynamic_typing);
+  }
+
+  if (c_param_descriptor->min_value_int || c_param_descriptor->max_value_int ||
+    c_param_descriptor->step_int)
+  {
+    if (c_param_descriptor->min_value_double || c_param_descriptor->max_value_double ||
+      c_param_descriptor->step_double)
+    {
+      throw InvalidParameterValueException(
+              "Mixed 'integer' and 'double' types not supported for parameter descriptor range");
+    }
+    IntegerRange i;
+    if (c_param_descriptor->min_value_int) {
+      i.from_value = *(c_param_descriptor->min_value_int);
+    } else {
+      i.from_value = std::numeric_limits<int64_t>::min();
+    }
+    if (c_param_descriptor->max_value_int) {
+      i.to_value = *(c_param_descriptor->max_value_int);
+    } else {
+      i.to_value = std::numeric_limits<int64_t>::max();
+    }
+    if (c_param_descriptor->step_int) {
+      i.step = *(c_param_descriptor->step_int);
+    }
+    p.integer_range.push_back(i);
+  } else if ( // NOLINT
+    c_param_descriptor->min_value_double ||
+    c_param_descriptor->max_value_double ||
+    c_param_descriptor->step_double)
+  {
+    FloatingPointRange f;
+    if (c_param_descriptor->min_value_double) {
+      f.from_value = *(c_param_descriptor->min_value_double);
+    } else {
+      f.from_value = std::numeric_limits<double>::lowest();
+    }
+    if (c_param_descriptor->max_value_double) {
+      f.to_value = *(c_param_descriptor->max_value_double);
+    } else {
+      f.to_value = std::numeric_limits<double>::max();
+    }
+    if (c_param_descriptor->step_double) {
+      f.step = *(c_param_descriptor->step_double);
+    }
+    p.floating_point_range.push_back(f);
+  }
+
+  return p;
+}
+
 ParameterMap
 rclcpp::parameter_map_from_yaml_file(const std::string & yaml_filename)
 {