Get user specified parameters at startup

ros-perception · May 11, 2024 · fe52157 · fe52157
1 parent eb4d1d6
commit fe52157
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Showing 4 changed files with 25 additions and 5 deletions.
diff --git a/draco_point_cloud_transport/src/draco_publisher.cpp b/draco_point_cloud_transport/src/draco_publisher.cpp
@@ -85,6 +85,7 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
   declareParam<int>(
     encode_speed_paramDescriptor.name, config_.encode_speed,
     encode_speed_paramDescriptor);
+  getParam<int>(encode_speed_paramDescriptor.name, config_.encode_speed);
 
   rcl_interfaces::msg::ParameterDescriptor decode_speed_paramDescriptor;
   decode_speed_paramDescriptor.name = "decode_speed";
@@ -99,6 +100,7 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
   declareParam<int>(
     decode_speed_paramDescriptor.name, config_.decode_speed,
     decode_speed_paramDescriptor);
+  getParam<int>(decode_speed_paramDescriptor.name, config_.decode_speed);
 
   rcl_interfaces::msg::ParameterDescriptor encode_method_paramDescriptor;
   encode_method_paramDescriptor.name = "encode_method";
@@ -113,13 +115,15 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
   declareParam<int>(
     encode_method_paramDescriptor.name, config_.encode_method,
     encode_method_paramDescriptor);
+  getParam<int>(encode_method_paramDescriptor.name, config_.encode_method);
 
   rcl_interfaces::msg::ParameterDescriptor deduplicate_paramDescriptor;
   deduplicate_paramDescriptor.name = "deduplicate";
   deduplicate_paramDescriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
   deduplicate_paramDescriptor.description =
     "Remove duplicate point entries.";
   declareParam<bool>(deduplicate_paramDescriptor.name, true, deduplicate_paramDescriptor);
+  getParam<bool>(deduplicate_paramDescriptor.name, config_.deduplicate);
 
   rcl_interfaces::msg::ParameterDescriptor force_quantization_paramDescriptor;
   force_quantization_paramDescriptor.name = "force_quantization";
@@ -130,6 +134,7 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
   declareParam<bool>(
     force_quantization_paramDescriptor.name, config_.force_quantization,
     force_quantization_paramDescriptor);
+  getParam<bool>(force_quantization_paramDescriptor.name, config_.force_quantization);
 
   rcl_interfaces::msg::ParameterDescriptor quantization_POSITION_paramDescriptor;
   quantization_POSITION_paramDescriptor.name = "quantization_POSITION";
@@ -143,8 +148,9 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
       .set__to_value(31)
       .set__step(1)});
   declareParam<int>(
-    quantization_POSITION_paramDescriptor.name, config_.quantization_NORMAL,
+    quantization_POSITION_paramDescriptor.name, config_.quantization_POSITION,
     quantization_POSITION_paramDescriptor);
+  getParam<int>(quantization_POSITION_paramDescriptor.name, config_.quantization_POSITION);
 
   rcl_interfaces::msg::ParameterDescriptor quantization_NORMAL_paramDescriptor;
   quantization_NORMAL_paramDescriptor.name = "quantization_NORMAL";
@@ -157,8 +163,9 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
       .set__to_value(31)
       .set__step(1)});
   declareParam<int>(
-    quantization_NORMAL_paramDescriptor.name, config_.quantization_COLOR,
+    quantization_NORMAL_paramDescriptor.name, config_.quantization_NORMAL,
     quantization_NORMAL_paramDescriptor);
+  getParam<int>(quantization_NORMAL_paramDescriptor.name, config_.quantization_NORMAL);
 
   rcl_interfaces::msg::ParameterDescriptor quantization_COLOR_paramDescriptor;
   quantization_COLOR_paramDescriptor.name = "quantization_COLOR";
@@ -171,8 +178,9 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
       .set__to_value(31)
       .set__step(1)});
   declareParam<int>(
-    quantization_COLOR_paramDescriptor.name, config_.quantization_TEX_COORD,
+    quantization_COLOR_paramDescriptor.name, config_.quantization_COLOR,
     quantization_COLOR_paramDescriptor);
+  getParam<int>(quantization_COLOR_paramDescriptor.name, config_.quantization_COLOR);
 
   rcl_interfaces::msg::ParameterDescriptor quantization_TEX_COORD_paramDescriptor;
   quantization_TEX_COORD_paramDescriptor.name = "quantization_TEX_COORD";
@@ -186,8 +194,9 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
       .set__to_value(31)
       .set__step(1)});
   declareParam<int>(
-    quantization_TEX_COORD_paramDescriptor.name, config_.quantization_GENERIC,
+    quantization_TEX_COORD_paramDescriptor.name, config_.quantization_TEX_COORD,
     quantization_TEX_COORD_paramDescriptor);
+  getParam<int>(quantization_TEX_COORD_paramDescriptor.name, config_.quantization_TEX_COORD);
 
   rcl_interfaces::msg::ParameterDescriptor quantization_GENERIC_paramDescriptor;
   quantization_GENERIC_paramDescriptor.name = "quantization_GENERIC";
@@ -201,8 +210,9 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
       .set__to_value(31)
       .set__step(1)});
   declareParam<int>(
-    quantization_GENERIC_paramDescriptor.name, config_.quantization_POSITION,
+    quantization_GENERIC_paramDescriptor.name, config_.quantization_GENERIC,
     quantization_GENERIC_paramDescriptor);
+  getParam<int>(quantization_GENERIC_paramDescriptor.name, config_.quantization_GENERIC);
 
   rcl_interfaces::msg::ParameterDescriptor expert_quantization_paramDescriptor;
   expert_quantization_paramDescriptor.name = "expert_quantization";
@@ -214,6 +224,7 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
   declareParam<bool>(
     expert_quantization_paramDescriptor.name, config_.expert_quantization,
     expert_quantization_paramDescriptor);
+  getParam<bool>(expert_quantization_paramDescriptor.name, config_.expert_quantization);
 
   rcl_interfaces::msg::ParameterDescriptor expert_attribute_types_paramDescriptor;
   expert_attribute_types_paramDescriptor.name = "expert_attribute_types";
@@ -225,7 +236,9 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
   declareParam<bool>(
     expert_attribute_types_paramDescriptor.name, config_.expert_attribute_types,
     expert_attribute_types_paramDescriptor);
+  getParam<bool>(expert_attribute_types_paramDescriptor.name, config_.expert_attribute_types);
 
+  // we call get param at runtime to get the latest value for these
   declareParam<std::string>("attribute_mapping.attribute_type.x", "POSITION");
   declareParam<std::string>("attribute_mapping.attribute_type.y", "POSITION");
   declareParam<std::string>("attribute_mapping.attribute_type.z", "POSITION");

diff --git a/draco_point_cloud_transport/src/draco_subscriber.cpp b/draco_point_cloud_transport/src/draco_subscriber.cpp
@@ -48,10 +48,15 @@ namespace draco_point_cloud_transport
 void DracoSubscriber::declareParameters()
 {
   declareParam<bool>(std::string("SkipDequantizationPOSITION"), false);
+  getParam<bool>(std::string("SkipDequantizationPOSITION"), config_.SkipDequantizationPOSITION);
   declareParam<bool>(std::string("SkipDequantizationNORMAL"), false);
+  getParam<bool>(std::string("SkipDequantizationNORMAL"), config_.SkipDequantizationNORMAL);
   declareParam<bool>(std::string("SkipDequantizationCOLOR"), false);
+  getParam<bool>(std::string("SkipDequantizationCOLOR"), config_.SkipDequantizationCOLOR);
   declareParam<bool>(std::string("SkipDequantizationTEX_COORD"), false);
+  getParam<bool>(std::string("SkipDequantizationTEX_COORD"), config_.SkipDequantizationTEX_COORD);
   declareParam<bool>(std::string("SkipDequantizationGENERIC"), false);
+  getParam<bool>(std::string("SkipDequantizationGENERIC"), config_.SkipDequantizationGENERIC);
 
   auto param_change_callback =
     [this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult

diff --git a/zlib_point_cloud_transport/src/zlib_publisher.cpp b/zlib_point_cloud_transport/src/zlib_publisher.cpp
@@ -54,6 +54,7 @@ void ZlibPublisher::declareParameters(const std::string & base_topic)
   declareParam<int>(
     encode_level_paramDescriptor.name, this->encode_level_,
     encode_level_paramDescriptor);
+  getParam<int>(encode_level_paramDescriptor.name, this->encode_level_);
 
   auto param_change_callback =
     [this](const std::vector<rclcpp::Parameter> & parameters) -> rcl_interfaces::msg::

diff --git a/zstd_point_cloud_transport/src/zstd_publisher.cpp b/zstd_point_cloud_transport/src/zstd_publisher.cpp
@@ -58,6 +58,7 @@ void ZstdPublisher::declareParameters(const std::string & base_topic)
   declareParam<int>(
     encode_level_paramDescriptor.name, this->encode_level_,
     encode_level_paramDescriptor);
+  getParam<int>(encode_level_paramDescriptor.name, this->encode_level_);
 
   auto param_change_callback =
     [this](const std::vector<rclcpp::Parameter> & parameters) -> rcl_interfaces::msg::