Use of get_parameter_or not working.

[tgreier]

Where get_parameter_or is used, those values do not seem to be read from yaml.
It seems to be a problem perhaps since introduction of declare_parameter?

Bug report

Required Info:

• Operating System:
  Ubuntu 18.04
• Version or commit hash:
  eloquent-devel

Steps to reproduce issue

Try to set from yaml:
odom_topic
https://github.com/ros-planning/navigation2/blob/7c0ac74514506591c0d508a6bc10e42d1d67162f/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp#L69

goal_reached_tol
https://github.com/ros-planning/navigation2/blob/9615c2ef5d3c89db901f916b136845367e5fcabb/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp#L62

required_movement_radius
https://github.com/ros-planning/navigation2/blob/9615c2ef5d3c89db901f916b136845367e5fcabb/nav2_controller/src/progress_checker.cpp#L30

movement_time_allowance_
https://github.com/ros-planning/navigation2/blob/9615c2ef5d3c89db901f916b136845367e5fcabb/nav2_controller/src/progress_checker.cpp#L32

Also, underscore at end of "movement_time_allowance_" should be removed?

Expected behavior

Values will be set

Actual behavior

Defaults are retained

Additional information

[SteveMacenski]

Please give exact examples and links to their lines in source for review.

Also, underscore at end of "movement_time_allowance_" should be removed?

Yes, most likely, though it appears to be correct in source that I can see https://github.com/ros-planning/navigation2/blob/a0279a10d72fc297e3dabca2e017b7443616b7a9/nav2_controller/src/progress_checker.cpp#L33

[tgreier]

I'm sorry, I am using eloquent-devel branch so these changes are not in that branch. The change you referenced I believe is in master branch.

However, I originally was having a problem with "odom" topic, which is here:

https://github.com/ros-planning/navigation2/blob/7c0ac74514506591c0d508a6bc10e42d1d67162f/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp#L69

Should master branch be used for latest ros2 work? I apologize for my newbie question.

[SteveMacenski]

Master should be used for latest ros2 work, yes. But you can cherry pick that PR's commit to Eloquent and then submit a PR and I'll merge it to fix eloquent.

I agree, I think in that case there's an issue because the odom_topic hasn't been declared. Without declaring, you can't get it from the file so it'll always use the default or the topic provided in the constructor.

You can submit a PR to fix that using the nav2_utils declare if not declared method before the get_parameter_or to declare it and then it should work.

Please update the original ticket with the link to each of these and I can help figure out which/what the solution is for you to patch in a PR.