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Merged
merged 36 commits into from
May 22, 2025
Merged

Dynamic Parameters Only validating params that are part of the plugin #5106

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8cd8ca4
Only validating params that are part of the plugin
Nils-ChristianIseke Apr 25, 2025
3985c95
review
Nils-ChristianIseke May 12, 2025
121466b
Refactoring type with param_type and name with param_name to get more…
Nils-ChristianIseke May 15, 2025
1ca16a4
Check if plugin_name is part of param_name
Nils-ChristianIseke May 15, 2025
f03c24e
Check if param_name contains name_
Nils-ChristianIseke May 15, 2025
2981479
Uncrustify
Nils-ChristianIseke May 15, 2025
ce4ae56
Add check param name in dynamic parameter upate.
Nils-ChristianIseke May 16, 2025
7321da6
fix
Nils-ChristianIseke May 16, 2025
299f1fa
Merge remote-tracking branch 'upstream/main' into FixNamespaceCheck
Nils-ChristianIseke May 16, 2025
19afc9e
Remove controller_frequency as dynamic parameter
Nils-ChristianIseke May 16, 2025
7632e41
Merge remote-tracking branch 'origin/main' into FixNamespaceCheck
Nils-ChristianIseke May 16, 2025
02d46cb
Revert "Merge remote-tracking branch 'origin/main' into FixNamespaceC…
Nils-ChristianIseke May 16, 2025
28ee286
Merge remote-tracking branch 'upstream/main' into FixNamespaceCheck
Nils-ChristianIseke May 16, 2025
4c15bd0
Merge remote-tracking branch 'upstream/main' into FixNamespaceCheck
Nils-ChristianIseke May 17, 2025
7a62414
Fix merge errors.
Nils-ChristianIseke May 18, 2025
3ac3864
Add missing check to simple_goal_checker
Nils-ChristianIseke May 18, 2025
57b5459
Handel param_name resolution for smac_planner_hybrid
Nils-ChristianIseke May 18, 2025
6e4ff4e
fix typo
Nils-ChristianIseke May 18, 2025
43749c2
uncrustify
Nils-ChristianIseke May 18, 2025
a0a7892
fix
Nils-ChristianIseke May 18, 2025
bd12649
Revert "uncrustify"
Nils-ChristianIseke May 18, 2025
e18f704
uncrustify
Nils-ChristianIseke May 18, 2025
b3d216c
Revert "uncrustify"
Nils-ChristianIseke May 20, 2025
aa5b00a
Revert "fix"
Nils-ChristianIseke May 20, 2025
10fbc3a
Merge remote-tracking branch 'upstream/main' into FixNamespaceCheck
Nils-ChristianIseke May 20, 2025
b6bbcdf
Merge remote-tracking branch 'upstream' into FixNamespaceCheck
Nils-ChristianIseke May 20, 2025
15ed1c9
MPPI Check Namespace.
Nils-ChristianIseke May 20, 2025
8331f2f
fixing parameter_handler tests.
Nils-ChristianIseke May 21, 2025
9e2655b
Fix optimizer
Nils-ChristianIseke May 21, 2025
acc41da
Fix indentation
Nils-ChristianIseke May 21, 2025
dad23f5
mppi param handler only execute post_callbacks if a param of mppi was…
Nils-ChristianIseke May 21, 2025
5eea8e7
Update nav2_rotation_shim_controller.hpp
Nils-ChristianIseke May 21, 2025
b52f0b1
Review
Nils-ChristianIseke May 22, 2025
9f5534f
Update nav2_mppi_controller/src/parameters_handler.cpp
SteveMacenski May 22, 2025
47e72b4
Update nav2_mppi_controller/src/parameters_handler.cpp
SteveMacenski May 22, 2025
b9c37b9
Update nav2_mppi_controller/src/parameters_handler.cpp
SteveMacenski May 22, 2025
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3 changes: 3 additions & 0 deletions nav2_amcl/src/amcl_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1182,6 +1182,9 @@ AmclNode::dynamicParametersCallback(
for (auto parameter : parameters) {
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find('.') != std::string::npos) {
continue;
}

if (param_type == ParameterType::PARAMETER_DOUBLE) {
if (param_name == "alpha1") {
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4 changes: 3 additions & 1 deletion nav2_collision_monitor/src/polygon.cpp
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Expand Up @@ -578,7 +578,9 @@ Polygon::dynamicParametersCallback(
for (auto parameter : parameters) {
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();

if(param_name.find(polygon_name_ + ".") != 0) {
continue;
}
if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
if (param_name == polygon_name_ + "." + "enabled") {
enabled_ = parameter.as_bool();
Expand Down
4 changes: 3 additions & 1 deletion nav2_collision_monitor/src/source.cpp
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Expand Up @@ -121,7 +121,9 @@ Source::dynamicParametersCallback(
for (auto parameter : parameters) {
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();

if(param_name.find(source_name_ + ".") != 0) {
continue;
}
if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
if (param_name == source_name_ + "." + "enabled") {
enabled_ = parameter.as_bool();
Expand Down
11 changes: 7 additions & 4 deletions nav2_controller/plugins/pose_progress_checker.cpp
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Expand Up @@ -79,11 +79,14 @@ PoseProgressChecker::dynamicParametersCallback(std::vector<rclcpp::Parameter> pa
{
rcl_interfaces::msg::SetParametersResult result;
for (auto parameter : parameters) {
const auto & type = parameter.get_type();
const auto & name = parameter.get_name();
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find(plugin_name_ + ".") != 0) {
continue;
}

if (type == ParameterType::PARAMETER_DOUBLE) {
if (name == plugin_name_ + ".required_movement_angle") {
if (param_type == ParameterType::PARAMETER_DOUBLE) {
if (param_name == plugin_name_ + ".required_movement_angle") {
required_movement_angle_ = parameter.as_double();
}
}
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18 changes: 10 additions & 8 deletions nav2_controller/plugins/simple_goal_checker.cpp
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Expand Up @@ -145,18 +145,20 @@ SimpleGoalChecker::dynamicParametersCallback(std::vector<rclcpp::Parameter> para
{
rcl_interfaces::msg::SetParametersResult result;
for (auto & parameter : parameters) {
const auto & type = parameter.get_type();
const auto & name = parameter.get_name();

if (type == ParameterType::PARAMETER_DOUBLE) {
if (name == plugin_name_ + ".xy_goal_tolerance") {
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find(plugin_name_ + ".") != 0) {
continue;
}
if (param_type == ParameterType::PARAMETER_DOUBLE) {
if (param_name == plugin_name_ + ".xy_goal_tolerance") {
xy_goal_tolerance_ = parameter.as_double();
xy_goal_tolerance_sq_ = xy_goal_tolerance_ * xy_goal_tolerance_;
} else if (name == plugin_name_ + ".yaw_goal_tolerance") {
} else if (param_name == plugin_name_ + ".yaw_goal_tolerance") {
yaw_goal_tolerance_ = parameter.as_double();
}
} else if (type == ParameterType::PARAMETER_BOOL) {
if (name == plugin_name_ + ".stateful") {
} else if (param_type == ParameterType::PARAMETER_BOOL) {
if (param_name == plugin_name_ + ".stateful") {
stateful_ = parameter.as_bool();
}
}
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13 changes: 8 additions & 5 deletions nav2_controller/plugins/simple_progress_checker.cpp
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Expand Up @@ -98,13 +98,16 @@ SimpleProgressChecker::dynamicParametersCallback(std::vector<rclcpp::Parameter>
{
rcl_interfaces::msg::SetParametersResult result;
for (auto parameter : parameters) {
const auto & type = parameter.get_type();
const auto & name = parameter.get_name();
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find(plugin_name_ + ".") != 0) {
continue;
}

if (type == ParameterType::PARAMETER_DOUBLE) {
if (name == plugin_name_ + ".required_movement_radius") {
if (param_type == ParameterType::PARAMETER_DOUBLE) {
if (param_name == plugin_name_ + ".required_movement_radius") {
radius_ = parameter.as_double();
} else if (name == plugin_name_ + ".movement_time_allowance") {
} else if (param_name == plugin_name_ + ".movement_time_allowance") {
time_allowance_ = rclcpp::Duration::from_seconds(parameter.as_double());
}
}
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13 changes: 8 additions & 5 deletions nav2_controller/plugins/stopped_goal_checker.cpp
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Expand Up @@ -119,13 +119,16 @@ StoppedGoalChecker::dynamicParametersCallback(std::vector<rclcpp::Parameter> par
{
rcl_interfaces::msg::SetParametersResult result;
for (auto parameter : parameters) {
const auto & type = parameter.get_type();
const auto & name = parameter.get_name();
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find(plugin_name_ + ".") != 0) {
continue;
}

if (type == ParameterType::PARAMETER_DOUBLE) {
if (name == plugin_name_ + ".rot_stopped_velocity") {
if (param_type == ParameterType::PARAMETER_DOUBLE) {
if (param_name == plugin_name_ + ".rot_stopped_velocity") {
rot_stopped_velocity_ = parameter.as_double();
} else if (name == plugin_name_ + ".trans_stopped_velocity") {
} else if (param_name == plugin_name_ + ".trans_stopped_velocity") {
trans_stopped_velocity_ = parameter.as_double();
}
}
Expand Down
18 changes: 8 additions & 10 deletions nav2_controller/src/controller_server.cpp
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Expand Up @@ -840,12 +840,12 @@ ControllerServer::dynamicParametersCallback(std::vector<rclcpp::Parameter> param
rcl_interfaces::msg::SetParametersResult result;

for (auto parameter : parameters) {
const auto & type = parameter.get_type();
const auto & name = parameter.get_name();
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();

// If we are trying to change the parameter of a plugin we can just skip it at this point
// as they handle parameter changes themselves and don't need to lock the mutex
if (name.find('.') != std::string::npos) {
if (param_name.find('.') != std::string::npos) {
continue;
}

Expand All @@ -859,16 +859,14 @@ ControllerServer::dynamicParametersCallback(std::vector<rclcpp::Parameter> param
return result;
}

if (type == ParameterType::PARAMETER_DOUBLE) {
if (name == "controller_frequency") {
controller_frequency_ = parameter.as_double();
} else if (name == "min_x_velocity_threshold") {
if (param_type == ParameterType::PARAMETER_DOUBLE) {
if (param_name == "min_x_velocity_threshold") {
min_x_velocity_threshold_ = parameter.as_double();
} else if (name == "min_y_velocity_threshold") {
} else if (param_name == "min_y_velocity_threshold") {
min_y_velocity_threshold_ = parameter.as_double();
} else if (name == "min_theta_velocity_threshold") {
} else if (param_name == "min_theta_velocity_threshold") {
min_theta_velocity_threshold_ = parameter.as_double();
} else if (name == "failure_tolerance") {
} else if (param_name == "failure_tolerance") {
failure_tolerance_ = parameter.as_double();
}
}
Expand Down
4 changes: 1 addition & 3 deletions nav2_controller/test/test_dynamic_parameters.cpp
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Expand Up @@ -62,8 +62,7 @@ TEST(WPTest, test_dynamic_parameters)
controller->get_node_services_interface());

auto results = rec_param->set_parameters_atomically(
{rclcpp::Parameter("controller_frequency", 100.0),
rclcpp::Parameter("min_x_velocity_threshold", 100.0),
{rclcpp::Parameter("min_x_velocity_threshold", 100.0),
rclcpp::Parameter("min_y_velocity_threshold", 100.0),
rclcpp::Parameter("min_theta_velocity_threshold", 100.0),
rclcpp::Parameter("failure_tolerance", 5.0)});
Expand All @@ -72,7 +71,6 @@ TEST(WPTest, test_dynamic_parameters)
controller->get_node_base_interface(),
results);

EXPECT_EQ(controller->get_parameter("controller_frequency").as_double(), 100.0);
EXPECT_EQ(controller->get_parameter("min_x_velocity_threshold").as_double(), 100.0);
EXPECT_EQ(controller->get_parameter("min_y_velocity_threshold").as_double(), 100.0);
EXPECT_EQ(controller->get_parameter("min_theta_velocity_threshold").as_double(), 100.0);
Expand Down
3 changes: 3 additions & 0 deletions nav2_costmap_2d/plugins/inflation_layer.cpp
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Expand Up @@ -444,6 +444,9 @@ InflationLayer::dynamicParametersCallback(
for (auto parameter : parameters) {
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find(name_ + ".") != 0) {
continue;
}

if (param_type == ParameterType::PARAMETER_DOUBLE) {
if (param_name == name_ + "." + "inflation_radius" &&
Expand Down
3 changes: 3 additions & 0 deletions nav2_costmap_2d/plugins/obstacle_layer.cpp
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Expand Up @@ -326,6 +326,9 @@ ObstacleLayer::dynamicParametersCallback(
for (auto parameter : parameters) {
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find(name_ + ".") != 0) {
continue;
}

if (param_type == ParameterType::PARAMETER_DOUBLE) {
if (param_name == name_ + "." + "min_obstacle_height") {
Expand Down
3 changes: 3 additions & 0 deletions nav2_costmap_2d/plugins/plugin_container_layer.cpp
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Expand Up @@ -214,6 +214,9 @@ rcl_interfaces::msg::SetParametersResult PluginContainerLayer::dynamicParameters
for (auto parameter : parameters) {
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find(name_ + ".") != 0) {
continue;
}

if (param_type == ParameterType::PARAMETER_INTEGER) {
if (param_name == name_ + "." + "combination_method") {
Expand Down
3 changes: 3 additions & 0 deletions nav2_costmap_2d/plugins/static_layer.cpp
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Expand Up @@ -485,6 +485,9 @@ StaticLayer::dynamicParametersCallback(
for (auto parameter : parameters) {
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find(name_ + ".") != 0) {
continue;
}

if (param_name == name_ + "." + "map_subscribe_transient_local" ||
param_name == name_ + "." + "map_topic" ||
Expand Down
3 changes: 3 additions & 0 deletions nav2_costmap_2d/plugins/voxel_layer.cpp
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Expand Up @@ -496,6 +496,9 @@ VoxelLayer::dynamicParametersCallback(
for (auto parameter : parameters) {
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find(name_ + ".") != 0) {
continue;
}

if (param_type == ParameterType::PARAMETER_DOUBLE) {
if (param_name == name_ + "." + "max_obstacle_height") {
Expand Down
36 changes: 20 additions & 16 deletions nav2_costmap_2d/src/costmap_2d_ros.cpp
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Expand Up @@ -723,42 +723,46 @@ Costmap2DROS::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameter
std::lock_guard<std::mutex> lock_reinit(_dynamic_parameter_mutex);

for (auto parameter : parameters) {
const auto & type = parameter.get_type();
const auto & name = parameter.get_name();
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find('.') != std::string::npos) {
continue;
}


if (type == ParameterType::PARAMETER_DOUBLE) {
if (name == "robot_radius") {
if (param_type == ParameterType::PARAMETER_DOUBLE) {
if (param_name == "robot_radius") {
robot_radius_ = parameter.as_double();
// Set the footprint
if (use_radius_) {
setRobotFootprint(makeFootprintFromRadius(robot_radius_));
}
} else if (name == "footprint_padding") {
} else if (param_name == "footprint_padding") {
footprint_padding_ = parameter.as_double();
padded_footprint_ = unpadded_footprint_;
padFootprint(padded_footprint_, footprint_padding_);
layered_costmap_->setFootprint(padded_footprint_);
} else if (name == "transform_tolerance") {
} else if (param_name == "transform_tolerance") {
transform_tolerance_ = parameter.as_double();
} else if (name == "publish_frequency") {
} else if (param_name == "publish_frequency") {
map_publish_frequency_ = parameter.as_double();
if (map_publish_frequency_ > 0) {
publish_cycle_ = rclcpp::Duration::from_seconds(1 / map_publish_frequency_);
} else {
publish_cycle_ = rclcpp::Duration(-1s);
}
} else if (name == "resolution") {
} else if (param_name == "resolution") {
resize_map = true;
resolution_ = parameter.as_double();
} else if (name == "origin_x") {
} else if (param_name == "origin_x") {
resize_map = true;
origin_x_ = parameter.as_double();
} else if (name == "origin_y") {
} else if (param_name == "origin_y") {
resize_map = true;
origin_y_ = parameter.as_double();
}
} else if (type == ParameterType::PARAMETER_INTEGER) {
if (name == "width") {
} else if (param_type == ParameterType::PARAMETER_INTEGER) {
if (param_name == "width") {
if (parameter.as_int() > 0) {
resize_map = true;
map_width_meters_ = parameter.as_int();
Expand All @@ -769,7 +773,7 @@ Costmap2DROS::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameter
result.successful = false;
return result;
}
} else if (name == "height") {
} else if (param_name == "height") {
if (parameter.as_int() > 0) {
resize_map = true;
map_height_meters_ = parameter.as_int();
Expand All @@ -781,14 +785,14 @@ Costmap2DROS::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameter
return result;
}
}
} else if (type == ParameterType::PARAMETER_STRING) {
if (name == "footprint") {
} else if (param_type == ParameterType::PARAMETER_STRING) {
if (param_name == "footprint") {
footprint_ = parameter.as_string();
std::vector<geometry_msgs::msg::Point> new_footprint;
if (makeFootprintFromString(footprint_, new_footprint)) {
setRobotFootprint(new_footprint);
}
} else if (name == "robot_base_frame") {
} else if (param_name == "robot_base_frame") {
// First, make sure that the transform between the robot base frame
// and the global frame is available
std::string tf_error;
Expand Down
36 changes: 19 additions & 17 deletions nav2_docking/opennav_docking/src/controller.cpp
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Expand Up @@ -241,35 +241,37 @@ Controller::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)

rcl_interfaces::msg::SetParametersResult result;
for (auto parameter : parameters) {
const auto & type = parameter.get_type();
const auto & name = parameter.get_name();

if (type == rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
if (name == "controller.k_phi") {
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if (param_name.find("controller.") != 0) {
continue;
}
if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
if (param_name == "controller.k_phi") {
k_phi_ = parameter.as_double();
} else if (name == "controller.k_delta") {
} else if (param_name == "controller.k_delta") {
k_delta_ = parameter.as_double();
} else if (name == "controller.beta") {
} else if (param_name == "controller.beta") {
beta_ = parameter.as_double();
} else if (name == "controller.lambda") {
} else if (param_name == "controller.lambda") {
lambda_ = parameter.as_double();
} else if (name == "controller.v_linear_min") {
} else if (param_name == "controller.v_linear_min") {
v_linear_min_ = parameter.as_double();
} else if (name == "controller.v_linear_max") {
} else if (param_name == "controller.v_linear_max") {
v_linear_max_ = parameter.as_double();
} else if (name == "controller.v_angular_max") {
} else if (param_name == "controller.v_angular_max") {
v_angular_max_ = parameter.as_double();
} else if (name == "controller.slowdown_radius") {
} else if (param_name == "controller.slowdown_radius") {
slowdown_radius_ = parameter.as_double();
} else if (name == "controller.rotate_to_heading_angular_vel") {
} else if (param_name == "controller.rotate_to_heading_angular_vel") {
rotate_to_heading_angular_vel_ = parameter.as_double();
} else if (name == "controller.rotate_to_heading_max_angular_accel") {
} else if (param_name == "controller.rotate_to_heading_max_angular_accel") {
rotate_to_heading_max_angular_accel_ = parameter.as_double();
} else if (name == "controller.projection_time") {
} else if (param_name == "controller.projection_time") {
projection_time_ = parameter.as_double();
} else if (name == "controller.simulation_time_step") {
} else if (param_name == "controller.simulation_time_step") {
simulation_time_step_ = parameter.as_double();
} else if (name == "controller.dock_collision_threshold") {
} else if (param_name == "controller.dock_collision_threshold") {
dock_collision_threshold_ = parameter.as_double();
}

Expand Down
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