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Fixes exception UninitializedStaticallyTypedParameterException when declaring a parameter without default value #27

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Fixes exception UninitializedStaticallyTypedParameterException when declaring a parameter without default value #27

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1c563b8
Fixes rclcpp::exceptions::UninitializedStaticallyTypedParameterExcept…
JafarAbdi May 24, 2022
e566684
Use humble with clang-format 12
JafarAbdi May 25, 2022
666f527
clang-format
JafarAbdi May 25, 2022
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6 changes: 3 additions & 3 deletions .github/workflows/main.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,10 +19,10 @@ jobs:
env:
- CI_NAME: clang-format
CLANG_FORMAT_CHECK: file
CLANG_FORMAT_VERSION: 10
CLANG_FORMAT_VERSION: 12
- CI_NAME: build-and-test rolling
- CI_NAME: build-and-test galactic
ROS_DISTRO: galactic
- CI_NAME: build-and-test humble
ROS_DISTRO: humble
- CI_NAME: clang-tidy
CLANG_TIDY: true

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64 changes: 59 additions & 5 deletions src/rosparam_shortcuts.cpp
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Expand Up @@ -37,20 +37,74 @@
// this package
#include <rosparam_shortcuts/rosparam_shortcuts.h>

#include <rclcpp/parameter_value.hpp>

// Eigen/TF conversion
#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
#include <tf2_eigen/tf2_eigen.hpp>
#else
#include <tf2_eigen/tf2_eigen.h>
#endif

static const rclcpp::Logger LOGGER = rclcpp::get_logger("rosparam_shortcuts");

namespace {
// Convert standard types to rclcpp::ParameterType
template <typename T>
struct rclcpp_type_converter
{};

template <>
struct rclcpp_type_converter<bool>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_BOOL; };

template <>
struct rclcpp_type_converter<int>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_INTEGER; };

template <>
struct rclcpp_type_converter<int64_t>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_INTEGER; };

template <>
struct rclcpp_type_converter<double>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_DOUBLE; };

template <>
struct rclcpp_type_converter<std::string>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_STRING; };

template <>
struct rclcpp_type_converter<std::vector<uint8_t>>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_BYTE_ARRAY; };

template <>
struct rclcpp_type_converter<std::vector<bool>>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_BOOL_ARRAY; };

template <>
struct rclcpp_type_converter<std::vector<int>>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY; };

template <>
struct rclcpp_type_converter<std::vector<int64_t>>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY; };

template <>
struct rclcpp_type_converter<std::vector<double>>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY; };

template <>
struct rclcpp_type_converter<std::vector<float>>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY; };

template <>
struct rclcpp_type_converter<std::vector<std::string>>
{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_STRING_ARRAY; };

template <typename T>
inline constexpr bool rclcpp_type_converter_v = rclcpp_type_converter<T>::value;

template <typename T>
void declare_parameter(const rclcpp::Node::SharedPtr& node, const std::string& param_name) {
if (!node->has_parameter(param_name))
node->declare_parameter<T>(param_name);
node->declare_parameter(param_name, rclcpp_type_converter_v<T>);
}

template <typename T>
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