add reproducible test for loading parameter file.

Signed-off-by: Tomoya Fujita <[email protected]>

prover_rclcpp/CMakeLists.txt

@@ -90,6 +90,7 @@ custom_executable(rmw_fastrtps_555)
 #custom_executable(ros2_946_pub)
 #custom_executable(ros2_946_sub)
 #custom_executable(ros2_1026)
+custom_executable(ros2_1173)
 
 #custom_executable(ros2cli_601)
 

prover_rclcpp/src/ros2_1173.cpp

@@ -0,0 +1,13 @@
+#include "rclcpp/rclcpp.hpp"
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  rclcpp::NodeOptions options;
+  options.automatically_declare_parameters_from_overrides(true);
+
+  std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("ParametersNode", options);
+
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+}

prover_rclpy/setup.py

@@ -40,6 +40,7 @@
             'rclpy_client_822 = src.rclpy_client_822:main',
             'rclpy_server_822 = src.rclpy_server_822:main',
             'rclpy_827 = src.rclpy_827:main',
+            'ros2_1173 = src.ros2_1173:main',
         ],
     },
 )

prover_rclpy/src/ros2_1173.py

@@ -0,0 +1,38 @@
+# Refer to the following API:
+import rclpy
+from rclpy.node import Node
+from rcl_interfaces.msg import SetParametersResult
+
+class ParametersNode(Node):
+    def __init__(self):
+        super().__init__('ParametersNode', automatically_declare_parameters_from_overrides=True)
+        self.get_logger().info("Initialized Parameters Node.")
+        #self._timer = self.create_timer(1, self.printParam)
+        self.declare_parameter("self_declared_param", 45)
+        # self.set_parameters_callback(self.onParameterChange)
+        # self.add_on_set_parameters_callback(self.onParameterChange)
+
+    def printParam(self):
+        params = ["test", "group.list_param", "group.string_param", "group2.complex_param",
+                  "group.group2.float_param", "group.group2.bool_param"]
+        for p in params:
+            try:
+                obj = self.get_parameter(p)
+                value = obj._value
+                self.get_logger().info(f"Parameter {p}: {value} ({type(value)}), ({obj.type_})")
+            except rclpy.exceptions.ParameterNotDeclaredException:
+                self.get_logger().info(f"Parameter {p} not defined!")
+
+    def onParameterChange(self, params):
+        txt = "\n".join(f"   {p.name}={p.value}" for p in params)
+        self.get_logger().info("Parameter changed callback called! Changed parameters:\n" + txt)
+        return SetParametersResult(successful=True)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = ParametersNode()
+    rclpy.spin(node)
+
+    node.destroy_node()
+    rclpy.shutdown()