[bugfix] for parameters not passing to recorder's node from child com…

…ponent (#1360)

* Update recorder.cpp

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>

* Typo

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>

* Regression test

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>

* Fix test for composable recorder with parameter override option

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

rosbag2_transport/CMakeLists.txt

@@ -233,6 +233,11 @@ function(create_tests_for_rmw_implementation)
     LINK_LIBS rosbag2_transport
     AMENT_DEPS test_msgs rosbag2_test_common)
 
+  rosbag2_transport_add_gmock(test_component_parameters
+      test/rosbag2_transport/test_composable_recorder.cpp
+    LINK_LIBS rosbag2_transport
+    AMENT_DEPS test_msgs rosbag2_test_common)
+
   if(${rmw_implementation} MATCHES "rmw_cyclonedds(.*)")
     ament_add_test_label(test_play_services__rmw_cyclonedds_cpp xfail)
   endif()

rosbag2_transport/src/rosbag2_transport/recorder.cpp

@@ -618,7 +618,7 @@ Recorder::Recorder(
   const rclcpp::NodeOptions & node_options)
 : rclcpp::Node(node_name, rclcpp::NodeOptions(node_options)
     .start_parameter_event_publisher(false)
-    .parameter_overrides({rclcpp::Parameter("use_sim_time", record_options.use_sim_time)})),
+    .append_parameter_override("use_sim_time", record_options.use_sim_time)),
   pimpl_(std::make_unique<RecorderImpl>(
       this, std::move(writer), keyboard_handler,
       storage_options, record_options))

rosbag2_transport/test/rosbag2_transport/test_composable_recorder.cpp

@@ -0,0 +1,84 @@
+// Copyright 2023 Patrick Roncagliolo and Michael Orlov
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gmock/gmock.h>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rosbag2_transport_test_fixture.hpp"
+#include "rosbag2_transport/recorder.hpp"
+
+class ComposableRecorderTestFixture : public Rosbag2TransportTestFixture
+{
+public:
+  ComposableRecorderTestFixture()
+  : Rosbag2TransportTestFixture()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  ~ComposableRecorderTestFixture() override
+  {
+    rclcpp::shutdown();
+  }
+};
+
+class ComposableRecorder : public rosbag2_transport::Recorder
+{
+public:
+  static const char demo_attribute_name_[];
+  bool demo_attribute_value{false};
+
+  explicit ComposableRecorder(const rclcpp::NodeOptions & options)
+  : rosbag2_transport::Recorder(
+      std::make_shared<rosbag2_cpp::Writer>(),
+      rosbag2_storage::StorageOptions(),
+      rosbag2_transport::RecordOptions(),
+      "test_recorder_component",
+      options)
+  {
+    // Declare demo attribute parameter for the underlying node with default value equal to false.
+    // However, if node was created with option to override this parameter it will be settled up
+    // to what was specified in parameter_overrides value.
+    demo_attribute_value = this->declare_parameter<bool>(
+      demo_attribute_name_, /*default_value=*/ false,
+      rcl_interfaces::msg::ParameterDescriptor(), /*ignore_override=*/ false);
+  }
+
+  bool get_value_of_bool_parameter(const std::string & parameter_name)
+  {
+    bool ret_value{false};
+    bool parameter_was_set = this->get_parameter(parameter_name, ret_value);
+    if (!parameter_was_set) {
+      throw std::runtime_error("Parameter `" + parameter_name + "` hasn't been set.");
+    }
+    return ret_value;
+  }
+};
+const char ComposableRecorder::demo_attribute_name_[] = "demo_attribute";
+
+TEST_F(ComposableRecorderTestFixture, recorder_inner_params_passed_as_append_override)
+{
+  std::vector<rclcpp::Parameter> parameters;
+  parameters.emplace_back(ComposableRecorder::demo_attribute_name_, true);
+  auto options = rclcpp::NodeOptions()
+    .use_global_arguments(false)
+    .parameter_overrides(parameters);
+
+  auto recorder = std::make_shared<ComposableRecorder>(options);
+  // Check that rosbag2_transport::Recorder inner params will not erase our
+  // parameter_overrides options
+  ASSERT_TRUE(recorder->get_value_of_bool_parameter(recorder->demo_attribute_name_));
+  ASSERT_TRUE(recorder->demo_attribute_value);
+}