From 898eb5a9009a48021ef813f9c51a995e7327e3e3 Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Thu, 11 Jul 2024 15:28:30 +0900
Subject: [PATCH] feat(duplicated_node_checker): add duplicate nodes to ignore
 (#7959) (#1410)

* feat: add duplicate nodes to ignore



* remove talker



* newline



* commments



* pre-commit and sign



* rviz->rviz2



---------

Signed-off-by: Dmitrii Koldaev <dmitrii.koldaev@tier4.jp>
Co-authored-by: Dmitrii Koldaev <39071246+dkoldaev@users.noreply.github.com>
Co-authored-by: Dmitrii Koldaev <dmitrii.koldaev@tier4.jp>
---
 .../config/duplicated_node_checker.param.yaml                | 2 ++
 .../duplicated_node_checker/duplicated_node_checker_core.hpp | 4 ++++
 .../src/duplicated_node_checker_core.cpp                     | 5 +++++
 3 files changed, 11 insertions(+)

diff --git a/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml b/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml
index 96dce7eb360e4..412c59e66e2c9 100644
--- a/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml
+++ b/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml
@@ -2,3 +2,5 @@
   ros__parameters:
     update_rate: 10.0
     add_duplicated_node_names_to_msg: true # if true, duplicated node names are added to msg
+    nodes_to_ignore:  # List of nodes to ignore when checking for duplicates
+      - /rviz2
diff --git a/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp b/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp
index 9d806754f3c20..66e125de666b7 100644
--- a/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp
+++ b/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp
@@ -33,6 +33,9 @@ class DuplicatedNodeChecker : public rclcpp::Node
     std::unordered_set<std::string> unique_names;
     std::vector<std::string> identical_names;
     for (auto name : input_name_lists) {
+      if (nodes_to_ignore_.count(name) != 0) {
+        continue;
+      }
       if (unique_names.find(name) != unique_names.end()) {
         identical_names.push_back(name);
       } else {
@@ -49,6 +52,7 @@ class DuplicatedNodeChecker : public rclcpp::Node
   diagnostic_updater::Updater updater_{this};
   rclcpp::TimerBase::SharedPtr timer_;
   bool add_duplicated_node_names_to_msg_;
+  std::unordered_set<std::string> nodes_to_ignore_;
 };
 }  // namespace duplicated_node_checker
 
diff --git a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
index 384c8fdc46c5f..c9bc07cffde72 100644
--- a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
+++ b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
@@ -29,6 +29,11 @@ DuplicatedNodeChecker::DuplicatedNodeChecker(const rclcpp::NodeOptions & node_op
 {
   double update_rate = declare_parameter<double>("update_rate");
   add_duplicated_node_names_to_msg_ = declare_parameter<bool>("add_duplicated_node_names_to_msg");
+
+  std::vector<std::string> nodes_to_ignore_vector =
+    declare_parameter<std::vector<std::string>>("nodes_to_ignore");
+  nodes_to_ignore_.insert(nodes_to_ignore_vector.begin(), nodes_to_ignore_vector.end());
+
   updater_.setHardwareID("duplicated_node_checker");
   updater_.add("duplicated_node_checker", this, &DuplicatedNodeChecker::produceDiagnostics);