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rclcpp 0.4.0 changes #8

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Jun 22, 2018
Merged

rclcpp 0.4.0 changes #8

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ac926c4
rclcpp 0.4.0 changes
parthc-rob Jun 12, 2018
e905830
ParameterVariant -> Parameter
Karsten1987 Jun 18, 2018
308ba7e
remove explicit parameter service
Karsten1987 Jun 18, 2018
2ad2599
comply with new uncrustify
Karsten1987 Jun 18, 2018
cb2239f
use ros2 class loader macros
Karsten1987 Jun 18, 2018
f15717f
Merge pull request #1 from Karsten1987/ros2_master_api
parthc-rob Jun 20, 2018
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4 changes: 2 additions & 2 deletions controller_interface/include/controller_interface/controller_interface.hpp
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Expand Up @@ -61,10 +61,10 @@ class ControllerInterface : public rclcpp_lifecycle::node_interfaces::LifecycleN
protected:
std::weak_ptr<hardware_interface::RobotHardware> robot_hardware_;
std::shared_ptr<rclcpp_lifecycle::LifecycleNode> lifecycle_node_;
std::shared_ptr<rclcpp::parameter_client::AsyncParametersClient> parameters_client_;
std::shared_ptr<rclcpp::AsyncParametersClient> parameters_client_;

private:
std::shared_ptr<rclcpp::node::Node> parameter_client_node_;
std::shared_ptr<rclcpp::Node> parameter_client_node_;
};

} // namespace controller_interface
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2 changes: 1 addition & 1 deletion controller_interface/src/controller_interface.cpp
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Expand Up @@ -47,7 +47,7 @@ ControllerInterface::init(
std::bind(&ControllerInterface::on_error, this, std::placeholders::_1));

std::string remote_controller_parameter_server = "controller_parameter_server";
parameters_client_ = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(
parameters_client_ = std::make_shared<rclcpp::AsyncParametersClient>(
lifecycle_node_->get_node_base_interface(),
lifecycle_node_->get_node_topics_interface(),
lifecycle_node_->get_node_graph_interface(),
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2 changes: 1 addition & 1 deletion controller_manager/include/controller_manager/controller_manager.hpp
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Expand Up @@ -37,7 +37,7 @@ class ClassLoader;
namespace controller_manager
{

class ControllerManager : public rclcpp::node::Node
class ControllerManager : public rclcpp::Node
{
public:
CONTROLLER_MANAGER_PUBLIC
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4 changes: 2 additions & 2 deletions controller_manager/src/controller_manager.cpp
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Expand Up @@ -21,7 +21,7 @@
#include "ament_index_cpp/get_resource.hpp"
#include "ament_index_cpp/get_resources.hpp"

#include "class_loader/class_loader.h"
#include "class_loader/class_loader.hpp"

#include "controller_interface/controller_interface.hpp"

Expand Down Expand Up @@ -130,7 +130,7 @@ ControllerManager::ControllerManager(
std::shared_ptr<hardware_interface::RobotHardware> hw,
std::shared_ptr<rclcpp::executor::Executor> executor,
const std::string & manager_node_name)
: rclcpp::node::Node(manager_node_name),
: rclcpp::Node(manager_node_name),
hw_(hw),
executor_(executor)
{}
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2 changes: 1 addition & 1 deletion controller_manager/test/test_controller/test_controller.cpp
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Expand Up @@ -42,7 +42,7 @@ TestController::on_configure(const rclcpp_lifecycle::State & previous_state)

} // namespace test_controller

#include "class_loader/class_loader_register_macro.h"
#include "class_loader/register_macro.hpp"

CLASS_LOADER_REGISTER_CLASS(
test_controller::TestController, controller_interface::ControllerInterface)
2 changes: 1 addition & 1 deletion controller_manager/test/test_controller_manager.cpp
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Expand Up @@ -31,7 +31,7 @@ class TestControllerManager : public ::testing::Test
public:
static void SetUpTestCase()
{
rclcpp::utilities::init(0, nullptr);
rclcpp::init(0, nullptr);
}

void SetUp()
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2 changes: 1 addition & 1 deletion controller_manager/test/test_load_controller.cpp
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Expand Up @@ -31,7 +31,7 @@ class TestControllerManager : public ::testing::Test
public:
static void SetUpTestCase()
{
rclcpp::utilities::init(0, nullptr);
rclcpp::init(0, nullptr);
}

void SetUp()
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9 changes: 1 addition & 8 deletions controller_parameter_server/include/controller_parameter_server/parameter_server.hpp
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Expand Up @@ -25,7 +25,7 @@
namespace controller_parameter_server
{

class ParameterServer : public rclcpp::node::Node
class ParameterServer : public rclcpp::Node
{
public:
CONTROLLER_PARAMETER_SERVER_PUBLIC
Expand All @@ -35,20 +35,13 @@ class ParameterServer : public rclcpp::node::Node
virtual
~ParameterServer() = default;

CONTROLLER_PARAMETER_SERVER_PUBLIC
void
init();

CONTROLLER_PARAMETER_SERVER_PUBLIC
void
load_parameters(const std::string & yaml_config_file);

CONTROLLER_PARAMETER_SERVER_PUBLIC
void
load_parameters(const std::string & key, const std::string & value);

private:
std::shared_ptr<rclcpp::parameter_service::ParameterService> parameter_service_;
};

} // namespace controller_parameter_server
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1 change: 0 additions & 1 deletion controller_parameter_server/src/controller_parameter_server.cpp
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Expand Up @@ -34,7 +34,6 @@ int main(int argc, char ** argv)
}

auto ps = std::make_shared<controller_parameter_server::ParameterServer>();
ps->init();
ps->load_parameters(argv[1]);

rclcpp::spin(ps);
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21 changes: 3 additions & 18 deletions controller_parameter_server/src/parameter_server.cpp
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Expand Up @@ -22,23 +22,12 @@ namespace controller_parameter_server
{

ParameterServer::ParameterServer()
: rclcpp::node::Node("controller_parameter_server")
: rclcpp::Node("controller_parameter_server")
{}

void
ParameterServer::init()
{
parameter_service_ =
std::make_shared<rclcpp::parameter_service::ParameterService>(shared_from_this());
}

void
ParameterServer::load_parameters(const std::string & yaml_config_file)
{
if (!parameter_service_) {
throw std::runtime_error("parameter server is not initialized");
}

if (yaml_config_file.empty()) {
throw std::runtime_error("yaml config file path is empty");
}
Expand All @@ -48,18 +37,14 @@ ParameterServer::load_parameters(const std::string & yaml_config_file)

auto key_values = parser.get_key_value_pairs();
for (auto pair : key_values) {
this->set_parameters({rclcpp::parameter::ParameterVariant(pair.first, pair.second)});
this->set_parameters({rclcpp::Parameter(pair.first, pair.second)});
}
}

void
ParameterServer::load_parameters(const std::string & key, const std::string & value)
{
if (!parameter_service_) {
throw std::runtime_error("parameter server is not initialized");
}

this->set_parameters({rclcpp::parameter::ParameterVariant(key, value)});
this->set_parameters({rclcpp::Parameter(key, value)});
}

} // namespace controller_parameter_server
54 changes: 22 additions & 32 deletions controller_parameter_server/test/test_parameter_server.cpp
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Expand Up @@ -38,24 +38,15 @@ class TestControllerParameterServer : public ::testing::Test
}
};

TEST_F(TestControllerParameterServer, init) {
auto ps = std::make_shared<controller_parameter_server::ParameterServer>();
EXPECT_THROW(ps->load_parameters("key", "value"), std::runtime_error);

ps->init();
EXPECT_NO_THROW(ps->load_parameters("key", "value"));
}

TEST_F(TestControllerParameterServer, init_key_value) {
auto ps = std::make_shared<controller_parameter_server::ParameterServer>();
ps->init();

std::map<std::string, std::string> parameters =
{{
{"test_controller.joints.joint1", "joint1"},
{"test_controller.joints.joint2", "joint2"},
{"test_controller.joints.joint3", "joint3"}
}};
{"test_controller.joints.joint1", "joint1"},
{"test_controller.joints.joint2", "joint2"},
{"test_controller.joints.joint3", "joint3"}
}};

for (auto param : parameters) {
ps->load_parameters(param.first, param.second);
Expand All @@ -81,12 +72,11 @@ TEST_F(TestControllerParameterServer, load_config_file) {
std::string file_path = std::string(yaml_file);

auto ps = std::make_shared<controller_parameter_server::ParameterServer>();
ps->init();
ps->load_parameters(file_path);

auto client_node = std::make_shared<rclcpp::node::Node>("test_parameter_client_node");
auto client_node = std::make_shared<rclcpp::Node>("test_parameter_client_node");
auto parameters_client =
std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(client_node, ps->get_name());
std::make_shared<rclcpp::AsyncParametersClient>(client_node, ps->get_name());

rclcpp::executors::MultiThreadedExecutor executor;
executor.add_node(ps);
Expand All @@ -105,25 +95,25 @@ TEST_F(TestControllerParameterServer, load_config_file) {

std::vector<std::string> expected_keys =
{{
".controller_name",
".controller_list.0",
".controller_list.1",
".test_joint_controller.joints",
".test_trajectory_controller.joints.0.joint1.name",
".test_trajectory_controller.joints.1",
".test_trajectory_controller.joints.2"
}};
".controller_name",
".controller_list.0",
".controller_list.1",
".test_joint_controller.joints",
".test_trajectory_controller.joints.0.joint1.name",
".test_trajectory_controller.joints.1",
".test_trajectory_controller.joints.2"
}};

std::vector<std::string> expected_values =
{{
"my_controller",
"my_controller1",
"my_controller2",
"my_joint1",
"my_joint1",
"my_joint2",
"my_joint3"
}};
"my_controller",
"my_controller1",
"my_controller2",
"my_joint1",
"my_joint1",
"my_joint2",
"my_joint3"
}};

auto parameter_future = parameters_client->get_parameters(expected_keys);

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32 changes: 16 additions & 16 deletions controller_parameter_server/test/test_yaml_parser.cpp
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Expand Up @@ -47,25 +47,25 @@ TEST_F(TestYamlParser, init) {

std::vector<std::string> expected_keys =
{{
".controller_name",
".controller_list.0",
".controller_list.1",
".test_joint_controller.joints",
".test_trajectory_controller.joints.0.joint1.name",
".test_trajectory_controller.joints.1",
".test_trajectory_controller.joints.2"
}};
".controller_name",
".controller_list.0",
".controller_list.1",
".test_joint_controller.joints",
".test_trajectory_controller.joints.0.joint1.name",
".test_trajectory_controller.joints.1",
".test_trajectory_controller.joints.2"
}};

std::vector<std::string> expected_values =
{{
"my_controller",
"my_controller1",
"my_controller2",
"my_joint1",
"my_joint1",
"my_joint2",
"my_joint3"
}};
"my_controller",
"my_controller1",
"my_controller2",
"my_joint1",
"my_joint1",
"my_joint2",
"my_joint3"
}};

if (expected_keys.size() != expected_values.size()) {
FAIL();
Expand Down