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Reproduce Load controller + Fix with new API #1

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Reproduce Load controller + Fix with new API #1

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fda1ffb
added tests without any proper parametes to reproduce the issue
saikishor Oct 30, 2023
30f9593
separate param listener and parameter intialization
saikishor Oct 30, 2023
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2 changes: 1 addition & 1 deletion imu_sensor_broadcaster/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ if(BUILD_TESTING)

add_rostest_with_parameters_gmock(test_load_imu_sensor_broadcaster
test/test_load_imu_sensor_broadcaster.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/imu_sensor_broadcaster_params.yaml)
${CMAKE_CURRENT_SOURCE_DIR}/test/imu_sensor_broadcaster_no_params.yaml)
target_include_directories(test_load_imu_sensor_broadcaster PRIVATE include)
target_link_libraries(test_load_imu_sensor_broadcaster
imu_sensor_broadcaster
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7 changes: 5 additions & 2 deletions imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp
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Expand Up @@ -27,8 +27,7 @@ controller_interface::CallbackReturn IMUSensorBroadcaster::on_init()
{
try
{
param_listener_ = std::make_shared<ParamListener>(get_node());
params_ = param_listener_->get_params();
param_listener_ = std::make_shared<ParamListener>(get_node(), "", false);
}
catch (const std::exception & e)
{
Expand All @@ -43,6 +42,10 @@ controller_interface::CallbackReturn IMUSensorBroadcaster::on_init()
controller_interface::CallbackReturn IMUSensorBroadcaster::on_configure(
const rclcpp_lifecycle::State & /*previous_state*/)
{
if (!param_listener_->are_params_initialized())
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do we need this in the client code, or should we put this in the library?

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I think it won't be needed for sure if you call the initialize_parameters on the first instance. If the get_params is called, then it throws an exception anyway.

We can remove the check if you prefer

{
param_listener_->initialize_parameters();
}
params_ = param_listener_->get_params();

imu_sensor_ = std::make_unique<semantic_components::IMUSensor>(
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6 changes: 6 additions & 0 deletions imu_sensor_broadcaster/test/imu_sensor_broadcaster_no_params.yaml
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@@ -0,0 +1,6 @@
test_imu_sensor_broadcaster:
ros__parameters:

test: "hello"
#sensor_name: "imu_sensor"
#frame_id: "imu_sensor_frame"