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Jul 23, 2025
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Use declare_or_get_param API #5336

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214 changes: 48 additions & 166 deletions nav2_amcl/src/amcl_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,126 +58,6 @@ AmclNode::AmclNode(const rclcpp::NodeOptions & options)
: nav2::LifecycleNode("amcl", "", options)
{
RCLCPP_INFO(get_logger(), "Creating");

declare_parameter(
"alpha1", rclcpp::ParameterValue(0.2));

declare_parameter(
"alpha2", rclcpp::ParameterValue(0.2));

declare_parameter(
"alpha3", rclcpp::ParameterValue(0.2));

declare_parameter(
"alpha4", rclcpp::ParameterValue(0.2));

declare_parameter(
"alpha5", rclcpp::ParameterValue(0.2));

declare_parameter(
"base_frame_id", rclcpp::ParameterValue(std::string("base_footprint")));

declare_parameter("beam_skip_distance", rclcpp::ParameterValue(0.5));
declare_parameter("beam_skip_error_threshold", rclcpp::ParameterValue(0.9));
declare_parameter("beam_skip_threshold", rclcpp::ParameterValue(0.3));
declare_parameter("do_beamskip", rclcpp::ParameterValue(false));

declare_parameter(
"global_frame_id", rclcpp::ParameterValue(std::string("map")));

declare_parameter(
"lambda_short", rclcpp::ParameterValue(0.1));

declare_parameter(
"laser_likelihood_max_dist", rclcpp::ParameterValue(2.0));

declare_parameter(
"laser_max_range", rclcpp::ParameterValue(100.0));

declare_parameter(
"laser_min_range", rclcpp::ParameterValue(-1.0));

declare_parameter(
"laser_model_type", rclcpp::ParameterValue(std::string("likelihood_field")));

declare_parameter(
"set_initial_pose", rclcpp::ParameterValue(false));

declare_parameter(
"initial_pose.x", rclcpp::ParameterValue(0.0));

declare_parameter(
"initial_pose.y", rclcpp::ParameterValue(0.0));

declare_parameter(
"initial_pose.z", rclcpp::ParameterValue(0.0));

declare_parameter(
"initial_pose.yaw", rclcpp::ParameterValue(0.0));

declare_parameter(
"max_beams", rclcpp::ParameterValue(60));

declare_parameter(
"max_particles", rclcpp::ParameterValue(2000));

declare_parameter(
"min_particles", rclcpp::ParameterValue(500));

declare_parameter(
"odom_frame_id", rclcpp::ParameterValue(std::string("odom")));

declare_parameter("pf_err", rclcpp::ParameterValue(0.05));
declare_parameter("pf_z", rclcpp::ParameterValue(0.99));

declare_parameter(
"recovery_alpha_fast", rclcpp::ParameterValue(0.0));

declare_parameter(
"recovery_alpha_slow", rclcpp::ParameterValue(0.0));

declare_parameter(
"resample_interval", rclcpp::ParameterValue(1));

declare_parameter("robot_model_type",
rclcpp::ParameterValue("nav2_amcl::DifferentialMotionModel"));

declare_parameter(
"save_pose_rate", rclcpp::ParameterValue(0.5));

declare_parameter("sigma_hit", rclcpp::ParameterValue(0.2));

declare_parameter(
"tf_broadcast", rclcpp::ParameterValue(true));

declare_parameter(
"transform_tolerance", rclcpp::ParameterValue(1.0));

declare_parameter(
"update_min_a", rclcpp::ParameterValue(0.2));

declare_parameter(
"update_min_d", rclcpp::ParameterValue(0.25));

declare_parameter("z_hit", rclcpp::ParameterValue(0.5));
declare_parameter("z_max", rclcpp::ParameterValue(0.05));
declare_parameter("z_rand", rclcpp::ParameterValue(0.5));
declare_parameter("z_short", rclcpp::ParameterValue(0.05));

declare_parameter(
"always_reset_initial_pose", rclcpp::ParameterValue(false));

declare_parameter(
"scan_topic", rclcpp::ParameterValue("scan"));

declare_parameter(
"map_topic", rclcpp::ParameterValue("map"));

declare_parameter(
"first_map_only", rclcpp::ParameterValue(false));

declare_parameter(
"freespace_downsampling", rclcpp::ParameterValue(false));
}

AmclNode::~AmclNode()
Expand Down Expand Up @@ -1013,52 +893,54 @@ AmclNode::initParameters()
double save_pose_rate;
double tmp_tol;

get_parameter("alpha1", alpha1_);
get_parameter("alpha2", alpha2_);
get_parameter("alpha3", alpha3_);
get_parameter("alpha4", alpha4_);
get_parameter("alpha5", alpha5_);
get_parameter("base_frame_id", base_frame_id_);
get_parameter("beam_skip_distance", beam_skip_distance_);
get_parameter("beam_skip_error_threshold", beam_skip_error_threshold_);
get_parameter("beam_skip_threshold", beam_skip_threshold_);
get_parameter("do_beamskip", do_beamskip_);
get_parameter("global_frame_id", global_frame_id_);
get_parameter("lambda_short", lambda_short_);
get_parameter("laser_likelihood_max_dist", laser_likelihood_max_dist_);
get_parameter("laser_max_range", laser_max_range_);
get_parameter("laser_min_range", laser_min_range_);
get_parameter("laser_model_type", sensor_model_type_);
get_parameter("set_initial_pose", set_initial_pose_);
get_parameter("initial_pose.x", initial_pose_x_);
get_parameter("initial_pose.y", initial_pose_y_);
get_parameter("initial_pose.z", initial_pose_z_);
get_parameter("initial_pose.yaw", initial_pose_yaw_);
get_parameter("max_beams", max_beams_);
get_parameter("max_particles", max_particles_);
get_parameter("min_particles", min_particles_);
get_parameter("odom_frame_id", odom_frame_id_);
get_parameter("pf_err", pf_err_);
get_parameter("pf_z", pf_z_);
get_parameter("recovery_alpha_fast", alpha_fast_);
get_parameter("recovery_alpha_slow", alpha_slow_);
get_parameter("resample_interval", resample_interval_);
get_parameter("robot_model_type", robot_model_type_);
get_parameter("save_pose_rate", save_pose_rate);
get_parameter("sigma_hit", sigma_hit_);
get_parameter("tf_broadcast", tf_broadcast_);
get_parameter("transform_tolerance", tmp_tol);
get_parameter("update_min_a", a_thresh_);
get_parameter("update_min_d", d_thresh_);
get_parameter("z_hit", z_hit_);
get_parameter("z_max", z_max_);
get_parameter("z_rand", z_rand_);
get_parameter("z_short", z_short_);
get_parameter("first_map_only", first_map_only_);
get_parameter("always_reset_initial_pose", always_reset_initial_pose_);
get_parameter("scan_topic", scan_topic_);
get_parameter("map_topic", map_topic_);
get_parameter("freespace_downsampling", freespace_downsampling_);
alpha1_ = this->declare_or_get_parameter("alpha1", 0.2);
alpha2_ = this->declare_or_get_parameter("alpha2", 0.2);
alpha3_ = this->declare_or_get_parameter("alpha3", 0.2);
alpha4_ = this->declare_or_get_parameter("alpha4", 0.2);
alpha5_ = this->declare_or_get_parameter("alpha5", 0.2);
base_frame_id_ = this->declare_or_get_parameter("base_frame_id", std::string{"base_footprint"});
beam_skip_distance_ = this->declare_or_get_parameter("beam_skip_distance", 0.5);
beam_skip_error_threshold_ = this->declare_or_get_parameter("beam_skip_error_threshold", 0.9);
beam_skip_threshold_ = this->declare_or_get_parameter("beam_skip_threshold", 0.3);
do_beamskip_ = this->declare_or_get_parameter("do_beamskip", false);
global_frame_id_ = this->declare_or_get_parameter("global_frame_id", std::string{"map"});
lambda_short_ = this->declare_or_get_parameter("lambda_short", 0.1);
laser_likelihood_max_dist_ = this->declare_or_get_parameter("laser_likelihood_max_dist", 2.0);
laser_max_range_ = this->declare_or_get_parameter("laser_max_range", 100.0);
laser_min_range_ = this->declare_or_get_parameter("laser_min_range", -1.0);
sensor_model_type_ = this->declare_or_get_parameter(
"laser_model_type", std::string{"likelihood_field"});
set_initial_pose_ = this->declare_or_get_parameter("set_initial_pose", false);
initial_pose_x_ = this->declare_or_get_parameter("initial_pose.x", 0.0);
initial_pose_y_ = this->declare_or_get_parameter("initial_pose.y", 0.0);
initial_pose_z_ = this->declare_or_get_parameter("initial_pose.z", 0.0);
initial_pose_yaw_ = this->declare_or_get_parameter("initial_pose.yaw", 0.0);
max_beams_ = this->declare_or_get_parameter("max_beams", 60);
max_particles_ = this->declare_or_get_parameter("max_particles", 2000);
min_particles_ = this->declare_or_get_parameter("min_particles", 500);
odom_frame_id_ = this->declare_or_get_parameter("odom_frame_id", std::string{"odom"});
pf_err_ = this->declare_or_get_parameter("pf_err", 0.05);
pf_z_ = this->declare_or_get_parameter("pf_z", 0.99);
alpha_fast_ = this->declare_or_get_parameter("recovery_alpha_fast", 0.0);
alpha_slow_ = this->declare_or_get_parameter("recovery_alpha_slow", 0.0);
resample_interval_ = this->declare_or_get_parameter("resample_interval", 1);
robot_model_type_ = this->declare_or_get_parameter(
"robot_model_type", std::string{"nav2_amcl::DifferentialMotionModel"});
save_pose_rate = this->declare_or_get_parameter("save_pose_rate", 0.5);
sigma_hit_ = this->declare_or_get_parameter("sigma_hit", 0.2);
tf_broadcast_ = this->declare_or_get_parameter("tf_broadcast", true);
tmp_tol = this->declare_or_get_parameter("transform_tolerance", 1.0);
a_thresh_ = this->declare_or_get_parameter("update_min_a", 0.2);
d_thresh_ = this->declare_or_get_parameter("update_min_d", 0.25);
z_hit_ = this->declare_or_get_parameter("z_hit", 0.5);
z_max_ = this->declare_or_get_parameter("z_max", 0.05);
z_rand_ = this->declare_or_get_parameter("z_rand", 0.5);
z_short_ = this->declare_or_get_parameter("z_short", 0.05);
first_map_only_ = this->declare_or_get_parameter("first_map_only", false);
always_reset_initial_pose_ = this->declare_or_get_parameter("always_reset_initial_pose", false);
scan_topic_ = this->declare_or_get_parameter("scan_topic", std::string{"scan"});
map_topic_ = this->declare_or_get_parameter("map_topic", std::string{"map"});
freespace_downsampling_ = this->declare_or_get_parameter("freespace_downsampling", false);

save_pose_period_ = tf2::durationFromSec(1.0 / save_pose_rate);
transform_tolerance_ = tf2::durationFromSec(tmp_tol);
Expand Down
30 changes: 22 additions & 8 deletions nav2_ros_common/include/nav2_ros_common/lifecycle_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,14 +67,8 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
rclcpp::Parameter(
bond::msg::Constants::DISABLE_HEARTBEAT_TIMEOUT_PARAM, true));

nav2::declare_parameter_if_not_declared(
this, "bond_heartbeat_period", rclcpp::ParameterValue(0.1));
this->get_parameter("bond_heartbeat_period", bond_heartbeat_period);

bool autostart_node = false;
nav2::declare_parameter_if_not_declared(
this, "autostart_node", rclcpp::ParameterValue(false));
this->get_parameter("autostart_node", autostart_node);
bond_heartbeat_period = this->declare_or_get_parameter<double>("bond_heartbeat_period", 0.1);
bool autostart_node = this->declare_or_get_parameter("autostart_node", false);
if (autostart_node) {
autostart();
}
Expand Down Expand Up @@ -108,6 +102,26 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
}
}

/**
* @brief Declares or gets a parameter.
* If the parameter is already declared, returns its value;
* otherwise declares it and returns the default value.
* @param parameter_name Name of the parameter
* @param default_value Default value of the parameter
* @param parameter_descriptor Optional parameter descriptor
* @return The value of the param from the override if existent, otherwise the default value.
*/
template<typename ParamType>
inline ParamType declare_or_get_parameter(
const std::string & parameter_name,
const ParamType & default_value,
const ParameterDescriptor & parameter_descriptor = ParameterDescriptor())
{
return nav2::declare_or_get_parameter(
this, parameter_name,
default_value, parameter_descriptor);
}

/**
* @brief Create a subscription to a topic using Nav2 QoS profiles and SubscriptionOptions
* @param topic_name Name of topic
Expand Down
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