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test_node.cpp
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2457 lines (2260 loc) · 89.4 KB
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// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
#include <map>
#include <memory>
#include <string>
#include <unordered_set>
#include <vector>
#include "rclcpp/exceptions.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/scope_exit.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rcpputils/filesystem_helper.hpp"
#include "test_msgs/msg/basic_types.hpp"
class TestNode : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
void SetUp() override
{
test_resources_path /= "test_node";
}
rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
};
/*
Testing node construction and destruction.
*/
TEST_F(TestNode, construction_and_destruction) {
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
(void)node;
}
{
ASSERT_THROW(
{
auto node = std::make_shared<rclcpp::Node>("invalid_node?", "/ns");
(void)node;
}, rclcpp::exceptions::InvalidNodeNameError);
}
{
ASSERT_THROW(
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/invalid_ns?");
(void)node;
}, rclcpp::exceptions::InvalidNamespaceError);
}
}
TEST_F(TestNode, get_name_and_namespace) {
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/ns", node->get_namespace());
EXPECT_STREQ("/ns/my_node", node->get_fully_qualified_name());
}
{
auto options = rclcpp::NodeOptions()
.arguments({"--ros-args", "-r", "__ns:=/another_ns"});
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns", options);
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/another_ns", node->get_namespace());
EXPECT_STREQ("/another_ns/my_node", node->get_fully_qualified_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/ns", node->get_namespace());
EXPECT_STREQ("/ns/my_node", node->get_fully_qualified_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/", node->get_namespace());
EXPECT_STREQ("/my_node", node->get_fully_qualified_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/", node->get_namespace());
EXPECT_STREQ("/my_node", node->get_fully_qualified_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/my/ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/my/ns", node->get_namespace());
EXPECT_STREQ("/my/ns/my_node", node->get_fully_qualified_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "my/ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/my/ns", node->get_namespace());
EXPECT_STREQ("/my/ns/my_node", node->get_fully_qualified_name());
}
{
auto node1 = std::make_shared<rclcpp::Node>("my_node1", "my/ns");
auto node2 = std::make_shared<rclcpp::Node>("my_node2", "my/ns");
auto node3 = std::make_shared<rclcpp::Node>("my_node3", "/ns2");
auto node4 = std::make_shared<rclcpp::Node>("my_node4", "my/ns3");
auto names_and_namespaces = node1->get_node_names();
auto name_namespace_set = std::unordered_set<std::string>(
names_and_namespaces.begin(),
names_and_namespaces.end());
std::function<bool(std::string)> Set_Contains = [&](std::string string_key)
{
return name_namespace_set.find(string_key) != name_namespace_set.end();
};
EXPECT_TRUE(Set_Contains("/my/ns/my_node1"));
EXPECT_TRUE(Set_Contains("/my/ns/my_node2"));
EXPECT_TRUE(Set_Contains("/ns2/my_node3"));
EXPECT_TRUE(Set_Contains("/my/ns3/my_node4"));
}
}
TEST_F(TestNode, subnode_get_name_and_namespace) {
{
auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
auto subnode = node->create_sub_node("sub_ns");
EXPECT_STREQ("my_node", subnode->get_name());
EXPECT_STREQ("/ns", subnode->get_namespace());
EXPECT_STREQ("sub_ns", subnode->get_sub_namespace().c_str());
EXPECT_STREQ("/ns/sub_ns", subnode->get_effective_namespace().c_str());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
auto subnode = node->create_sub_node("sub_ns");
EXPECT_STREQ("my_node", subnode->get_name());
EXPECT_STREQ("/ns", subnode->get_namespace());
EXPECT_STREQ("sub_ns", subnode->get_sub_namespace().c_str());
EXPECT_STREQ("/ns/sub_ns", subnode->get_effective_namespace().c_str());
auto subnode2 = subnode->create_sub_node("sub_ns2");
EXPECT_STREQ("my_node", subnode2->get_name());
EXPECT_STREQ("/ns", subnode2->get_namespace());
EXPECT_STREQ("sub_ns/sub_ns2", subnode2->get_sub_namespace().c_str());
EXPECT_STREQ("/ns/sub_ns/sub_ns2", subnode2->get_effective_namespace().c_str());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node");
auto subnode = node->create_sub_node("sub_ns");
EXPECT_STREQ("my_node", subnode->get_name());
EXPECT_STREQ("/", subnode->get_namespace());
EXPECT_STREQ("sub_ns", subnode->get_sub_namespace().c_str());
EXPECT_STREQ("/sub_ns", subnode->get_effective_namespace().c_str());
auto subnode2 = subnode->create_sub_node("sub_ns2");
EXPECT_STREQ("my_node", subnode2->get_name());
EXPECT_STREQ("/", subnode2->get_namespace());
EXPECT_STREQ("sub_ns/sub_ns2", subnode2->get_sub_namespace().c_str());
EXPECT_STREQ("/sub_ns/sub_ns2", subnode2->get_effective_namespace().c_str());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node");
ASSERT_THROW(
{
auto subnode = node->create_sub_node("/sub_ns");
}, rclcpp::exceptions::NameValidationError);
}
}
/*
Testing node construction and destruction.
*/
TEST_F(TestNode, subnode_construction_and_destruction) {
{
ASSERT_NO_THROW(
{
auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
auto subnode = node->create_sub_node("sub_ns");
});
}
{
ASSERT_THROW(
{
auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
auto subnode = node->create_sub_node("invalid_ns?");
}, rclcpp::exceptions::InvalidNamespaceError);
}
{
ASSERT_THROW(
{
auto node = std::make_shared<rclcpp::Node>("my_node", "ns/");
}, rclcpp::exceptions::InvalidNamespaceError);
}
{
ASSERT_THROW(
{
auto node = std::make_shared<rclcpp::Node>("my_node", "ns/");
auto subnode = node->create_sub_node("/sub_ns");
}, rclcpp::exceptions::InvalidNamespaceError);
}
{
ASSERT_THROW(
{
auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
auto subnode = node->create_sub_node("/sub_ns");
}, rclcpp::exceptions::NameValidationError);
}
{
ASSERT_THROW(
{
auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
auto subnode = node->create_sub_node("~sub_ns");
}, rclcpp::exceptions::InvalidNamespaceError);
}
{
ASSERT_THROW(
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
auto subnode = node->create_sub_node("invalid_ns?");
}, rclcpp::exceptions::InvalidNamespaceError);
}
{
ASSERT_NO_THROW(
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
auto subnode = node->create_sub_node("sub_ns");
});
}
{
ASSERT_THROW(
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
auto subnode = node->create_sub_node("/sub_ns");
}, rclcpp::exceptions::NameValidationError);
}
{
ASSERT_THROW(
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
auto subnode = node->create_sub_node("~sub_ns");
}, rclcpp::exceptions::InvalidNamespaceError);
}
}
TEST_F(TestNode, get_logger) {
{
auto node = std::make_shared<rclcpp::Node>("my_node");
EXPECT_STREQ("my_node", node->get_logger().get_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
EXPECT_STREQ("ns.my_node", node->get_logger().get_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
EXPECT_STREQ("ns.my_node", node->get_logger().get_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/my/ns");
EXPECT_STREQ("my.ns.my_node", node->get_logger().get_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "my/ns");
EXPECT_STREQ("my.ns.my_node", node->get_logger().get_name());
}
}
TEST_F(TestNode, get_clock) {
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
auto ros_clock = node->get_clock();
EXPECT_TRUE(ros_clock != nullptr);
EXPECT_EQ(ros_clock->get_clock_type(), RCL_ROS_TIME);
}
TEST_F(TestNode, now) {
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
auto clock = node->get_clock();
auto now_builtin = node->now().nanoseconds();
auto now_external = clock->now().nanoseconds();
EXPECT_GE(now_external, now_builtin);
EXPECT_LT(now_external - now_builtin, 5000000L);
}
std::string
operator"" _unq(const char * prefix, size_t prefix_length)
{
static uint64_t count = 0;
return std::string(prefix, prefix_length) + "_" + std::to_string(++count);
}
TEST_F(TestNode, declare_parameter_with_no_initial_values) {
// test cases without initial values
auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node"_unq);
{
// no default, no initial
rclcpp::ParameterValue value = node->declare_parameter("parameter"_unq);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_NOT_SET);
}
{
// int default, no initial
rclcpp::ParameterValue default_value(42);
rclcpp::ParameterValue value = node->declare_parameter("parameter"_unq, default_value);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int>(), default_value.get<int>());
}
{
// int default, no initial, custom parameter descriptor
auto name = "parameter"_unq;
rclcpp::ParameterValue default_value(42);
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.read_only = true;
rclcpp::ParameterValue value =
node->declare_parameter(name, default_value, descriptor);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int>(), default_value.get<int>());
rcl_interfaces::msg::ParameterDescriptor actual_descriptor =
node->describe_parameter(name);
EXPECT_EQ(actual_descriptor.read_only, descriptor.read_only);
}
{
// int default, no initial, implicit template specialization
int default_value = 42;
EXPECT_EQ(node->declare_parameter("parameter"_unq, default_value), default_value);
}
{
// parameter already declared throws
auto name = "parameter"_unq;
node->declare_parameter(name);
EXPECT_THROW(
{node->declare_parameter(name);},
rclcpp::exceptions::ParameterAlreadyDeclaredException);
}
{
// parameter name invalid throws
EXPECT_THROW(
{node->declare_parameter("");},
rclcpp::exceptions::InvalidParametersException);
}
{
// parameter rejected throws
auto name = "parameter"_unq;
auto on_set_parameters =
[&name](const std::vector<rclcpp::Parameter> & parameters) {
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
for (const auto & parameter : parameters) {
if (
parameter.get_name() == name &&
parameter.get_type() != rclcpp::PARAMETER_INTEGER)
{
result.successful = false;
result.reason = "'" + name + "' must be an integer";
}
}
return result;
};
auto handler = node->add_on_set_parameters_callback(on_set_parameters);
RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());}); // always reset
EXPECT_THROW(
{node->declare_parameter<std::string>(name, "not an int");},
rclcpp::exceptions::InvalidParameterValueException);
}
}
auto get_fixed_on_parameter_set_callback(const std::string & name, bool successful)
{
return
[name, successful](const std::vector<rclcpp::Parameter> & parameters) {
(void)parameters;
rcl_interfaces::msg::SetParametersResult result;
result.successful = successful;
return result;
};
}
TEST_F(TestNode, test_registering_multiple_callbacks_api) {
auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node"_unq);
{
int64_t default_value{42};
auto name1 = "parameter"_unq;
auto scoped_callback1 = node->add_on_set_parameters_callback(
get_fixed_on_parameter_set_callback(name1, true));
EXPECT_NE(scoped_callback1, nullptr);
int64_t value{node->declare_parameter(name1, default_value)};
EXPECT_EQ(value, default_value);
auto name2 = "parameter"_unq;
auto scoped_callback2 = node->add_on_set_parameters_callback(
get_fixed_on_parameter_set_callback(name2, false));
EXPECT_NE(scoped_callback2, nullptr);
EXPECT_THROW(
{node->declare_parameter(name2, default_value);},
rclcpp::exceptions::InvalidParameterValueException);
auto name3 = "parameter"_unq;
scoped_callback2.reset();
value = node->declare_parameter(name3, default_value);
EXPECT_EQ(value, default_value);
}
{
int64_t default_value{42};
auto name1 = "parameter"_unq;
auto scoped_callback1 = node->add_on_set_parameters_callback(
get_fixed_on_parameter_set_callback(name1, true));
EXPECT_NE(scoped_callback1, nullptr);
int64_t value{node->declare_parameter(name1, default_value)};
EXPECT_EQ(value, default_value);
auto name2 = "parameter"_unq;
auto scoped_callback2 = node->add_on_set_parameters_callback(
get_fixed_on_parameter_set_callback(name2, false));
EXPECT_NE(scoped_callback2, nullptr);
EXPECT_THROW(
{node->declare_parameter(name2, default_value);},
rclcpp::exceptions::InvalidParameterValueException);
auto name3 = "parameter"_unq;
node->remove_on_set_parameters_callback(scoped_callback2.get());
value = node->declare_parameter(name3, default_value);
EXPECT_EQ(value, default_value);
}
{
int64_t default_value{42};
auto name1 = "parameter"_unq;
rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr scoped_callback(
node->add_on_set_parameters_callback(
get_fixed_on_parameter_set_callback(name1, false)));
rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr scoped_callback_copy(scoped_callback);
scoped_callback.reset();
EXPECT_THROW(
{node->declare_parameter("parameter"_unq, default_value);},
rclcpp::exceptions::InvalidParameterValueException);
scoped_callback_copy.reset();
// All the shared_ptr has been reset
int64_t value = node->declare_parameter("parameter"_unq, default_value);
EXPECT_EQ(value, default_value);
}
}
TEST_F(TestNode, declare_parameter_with_overrides) {
// test cases with overrides
rclcpp::NodeOptions no;
no.parameter_overrides(
{
{"parameter_no_default", 42},
{"parameter_no_default_set", 42},
{"parameter_no_default_set_cvref", 42},
{"parameter_and_default", 42},
{"parameter_and_default_ignore_override", 42},
{"parameter_custom", 42},
{"parameter_template", 42},
{"parameter_already_declared", 42},
{"parameter_rejected", 42},
{"parameter_type_mismatch", "not an int"},
});
auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node"_unq, no);
{
// no default, with override
rclcpp::ParameterValue value = node->declare_parameter("parameter_no_default");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int>(), 42);
}
{
// no default, with override, and set after
rclcpp::ParameterValue value = node->declare_parameter("parameter_no_default_set");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int>(), 42);
// check that the value is changed after a set
node->set_parameter({"parameter_no_default_set", 44});
EXPECT_EQ(node->get_parameter("parameter_no_default_set").get_value<int>(), 44);
}
{
// no default, with override
const rclcpp::ParameterValue & value =
node->declare_parameter("parameter_no_default_set_cvref");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int>(), 42);
// check that the value is changed after a set
node->set_parameter({"parameter_no_default_set_cvref", 44});
EXPECT_EQ(value.get<int>(), 44);
}
{
// int default, with override
rclcpp::ParameterValue default_value(43);
rclcpp::ParameterValue value = node->declare_parameter("parameter_and_default", default_value);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int>(), 42); // and not 43 which is the default value
}
{
// int default, with override and ignoring it
rclcpp::ParameterValue default_value(43);
rclcpp::ParameterValue value = node->declare_parameter(
"parameter_and_default_ignore_override",
default_value,
rcl_interfaces::msg::ParameterDescriptor(),
true);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int>(), 43); // and not 42, the parameter override is ignored.
}
{
// int default, with initial, custom parameter descriptor
rclcpp::ParameterValue default_value(43);
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.read_only = true;
rclcpp::ParameterValue value =
node->declare_parameter("parameter_custom", default_value, descriptor);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int>(), 42); // and not 43 which is the default value
rcl_interfaces::msg::ParameterDescriptor actual_descriptor =
node->describe_parameter("parameter_custom");
EXPECT_EQ(actual_descriptor.read_only, descriptor.read_only);
}
{
// int default, with initial, implicit template specialization
int default_value = 43;
// is equal to 42, not 43 which is the default value
EXPECT_EQ(node->declare_parameter("parameter_template", default_value), 42);
}
{
// parameter already declared throws
auto name = "parameter_already_declared";
node->declare_parameter(name);
EXPECT_THROW(
{node->declare_parameter(name);},
rclcpp::exceptions::ParameterAlreadyDeclaredException);
}
{
// parameter name invalid throws
EXPECT_THROW(
{node->declare_parameter("");},
rclcpp::exceptions::InvalidParametersException);
}
{
// parameter rejected throws, with initial value
auto name = std::string("parameter_rejected");
auto on_set_parameters =
[&name](const std::vector<rclcpp::Parameter> & parameters) {
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
for (const auto & parameter : parameters) {
if (
parameter.get_name() == name &&
parameter.get_type() == rclcpp::PARAMETER_INTEGER)
{
if (parameter.get_value<int>() < 43) {
result.successful = false;
result.reason = "'" + name + "' must be an integer and less than 43";
}
}
}
return result;
};
auto handler = node->add_on_set_parameters_callback(on_set_parameters);
RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());}); // always reset
EXPECT_THROW(
{node->declare_parameter<int>(name, 43);},
rclcpp::exceptions::InvalidParameterValueException);
}
{
// default type and initial value type do not match
EXPECT_THROW(
{node->declare_parameter("parameter_type_mismatch", 42);},
rclcpp::exceptions::InvalidParameterTypeException);
}
}
TEST_F(TestNode, declare_parameters_with_no_initial_values) {
// test cases without initial values
auto node = std::make_shared<rclcpp::Node>("test_declare_parameters_node"_unq);
{
// with namespace, defaults, no custom descriptors, no initial
int64_t bigger_than_int = INT64_MAX - 42;
auto values = node->declare_parameters<int64_t>(
"namespace1", {
{"parameter_a", 42},
{"parameter_b", 256},
{"parameter_c", bigger_than_int},
});
std::vector<int64_t> expected = {42, 256, bigger_than_int};
EXPECT_EQ(values, expected);
EXPECT_TRUE(node->has_parameter("namespace1.parameter_a"));
EXPECT_TRUE(node->has_parameter("namespace1.parameter_b"));
EXPECT_FALSE(node->has_parameter("namespace1"));
}
{
// without namespace, defaults, no custom descriptors, no initial
auto values = node->declare_parameters<int64_t>(
"", {
{"parameter_without_ns_a", 42},
{"parameter_without_ns_b", 256},
});
std::vector<int64_t> expected = {42, 256};
EXPECT_EQ(values, expected);
EXPECT_TRUE(node->has_parameter("parameter_without_ns_a"));
EXPECT_TRUE(node->has_parameter("parameter_without_ns_b"));
}
{
// with namespace, defaults, custom descriptors, no initial
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.read_only = true;
auto values = node->declare_parameters<int64_t>(
"namespace2", {
{"parameter_a", {42, descriptor}},
{"parameter_b", {256, descriptor}},
});
std::vector<int64_t> expected = {42, 256};
EXPECT_EQ(values, expected);
EXPECT_TRUE(node->has_parameter("namespace2.parameter_a"));
EXPECT_TRUE(node->has_parameter("namespace2.parameter_b"));
EXPECT_FALSE(node->has_parameter("namespace2"));
}
{
// without namespace, defaults, custom descriptors, no initial
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.read_only = true;
auto values = node->declare_parameters<int64_t>(
"", {
{"parameter_without_ns_c", {42, descriptor}},
{"parameter_without_ns_d", {256, descriptor}},
});
std::vector<int64_t> expected = {42, 256};
EXPECT_EQ(values, expected);
EXPECT_TRUE(node->has_parameter("parameter_without_ns_c"));
EXPECT_TRUE(node->has_parameter("parameter_without_ns_d"));
}
{
// empty parameters
auto values = node->declare_parameters<int64_t>("", {});
std::vector<int64_t> expected {};
EXPECT_EQ(values, expected);
}
{
// parameter already declared throws, even with not_set type
auto name = "parameter"_unq;
node->declare_parameter(name);
EXPECT_THROW(
{node->declare_parameters<int64_t>("", {{name, 42}});},
rclcpp::exceptions::ParameterAlreadyDeclaredException);
}
{
// parameter name invalid throws
EXPECT_THROW(
{node->declare_parameters<int64_t>("", {{"", 42}});},
rclcpp::exceptions::InvalidParametersException);
}
{
// parameter rejected throws
auto name = "parameter"_unq;
auto on_set_parameters =
[&name](const std::vector<rclcpp::Parameter> & parameters) {
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
for (const auto & parameter : parameters) {
if (
parameter.get_name() == name &&
parameter.get_type() != rclcpp::PARAMETER_INTEGER)
{
result.successful = false;
result.reason = "'" + name + "' must be an integer";
}
}
return result;
};
auto handler = node->add_on_set_parameters_callback(on_set_parameters);
RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());}); // always reset
EXPECT_THROW(
{node->declare_parameters<std::string>("", {{name, "not an int"}});},
rclcpp::exceptions::InvalidParameterValueException);
}
}
TEST_F(TestNode, declare_parameter_with_cli_overrides) {
const std::string parameters_filepath = (
test_resources_path / "test_parameters.yaml").string();
// test cases with overrides
rclcpp::NodeOptions no;
no.arguments(
{
"--ros-args",
"-p", "parameter_bool:=false",
"-p", "parameter_int:=42",
"-p", "parameter_double:=0.42",
"-p", "parameter_string:=foo",
"--params-file", parameters_filepath.c_str(),
"-p", "parameter_bool_array:=[false, true]",
"-p", "parameter_int_array:=[-21, 42]",
"-p", "parameter_double_array:=[-1.0, .42]",
"-p", "parameter_string_array:=[foo, bar]"
});
// To match parameters YAML file content, use a well-known node name for this test only.
auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node", no);
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_bool");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_BOOL);
EXPECT_EQ(value.get<bool>(), true);
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_int");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int64_t>(), 21); // set to 42 in CLI, overriden by file
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_double");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE);
EXPECT_EQ(value.get<double>(), 0.42);
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_string");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_STRING);
EXPECT_EQ(value.get<std::string>(), "foo");
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_bool_array");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_BOOL_ARRAY);
std::vector<bool> expected_value{false, true};
EXPECT_EQ(value.get<std::vector<bool>>(), expected_value);
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_int_array");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER_ARRAY);
std::vector<int64_t> expected_value{-21, 42};
EXPECT_EQ(value.get<std::vector<int64_t>>(), expected_value);
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_double_array");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE_ARRAY);
std::vector<double> expected_value{-1.0, 0.42};
EXPECT_EQ(value.get<std::vector<double>>(), expected_value);
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_string_array");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_STRING_ARRAY);
std::vector<std::string> expected_value{"foo", "bar"};
// set to [baz, baz, baz] in file, overriden by CLI
EXPECT_EQ(value.get<std::vector<std::string>>(), expected_value);
}
}
TEST_F(TestNode, undeclare_parameter) {
auto node = std::make_shared<rclcpp::Node>("test_undeclare_parameter_node"_unq);
{
// normal use
auto name = "parameter"_unq;
node->declare_parameter(name);
EXPECT_TRUE(node->has_parameter(name));
node->undeclare_parameter(name);
EXPECT_FALSE(node->has_parameter(name));
}
{
// not declared throws
auto name = "parameter"_unq;
EXPECT_FALSE(node->has_parameter(name));
EXPECT_THROW(
{node->undeclare_parameter(name);},
rclcpp::exceptions::ParameterNotDeclaredException);
}
{
// read only parameter throws
auto name = "parameter"_unq;
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.read_only = true;
node->declare_parameter(name, 42, descriptor);
EXPECT_TRUE(node->has_parameter(name));
EXPECT_THROW(
{node->undeclare_parameter(name);},
rclcpp::exceptions::ParameterImmutableException);
EXPECT_TRUE(node->has_parameter(name));
}
}
TEST_F(TestNode, has_parameter) {
auto node = std::make_shared<rclcpp::Node>("test_has_parameter_node"_unq);
{
// normal use
auto name = "parameter"_unq;
EXPECT_FALSE(node->has_parameter(name));
node->declare_parameter(name);
EXPECT_TRUE(node->has_parameter(name));
node->undeclare_parameter(name);
EXPECT_FALSE(node->has_parameter(name));
}
}
TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
auto node = std::make_shared<rclcpp::Node>(
"test_set_parameter_node"_unq,
rclcpp::NodeOptions().allow_undeclared_parameters(false));
{
// normal use
auto name = "parameter"_unq;
EXPECT_FALSE(node->has_parameter(name));
node->declare_parameter(name, 42);
EXPECT_TRUE(node->has_parameter(name));
EXPECT_EQ(node->get_parameter(name).get_value<int>(), 42);
EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name, 43)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int>(), 43);
}
{
// normal use, change type
auto name = "parameter"_unq;
EXPECT_FALSE(node->has_parameter(name));
node->declare_parameter(name, 42);
EXPECT_TRUE(node->has_parameter(name));
EXPECT_EQ(node->get_parameter(name).get_value<int>(), 42);
EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name, "not an integer")).successful);
EXPECT_EQ(node->get_parameter(name).get_value<std::string>(), std::string("not an integer"));
}
{
// normal use, multiple parameters
auto name1 = "parameter"_unq;
auto name2 = "parameter"_unq;
auto name3 = "parameter"_unq;
node->declare_parameter(name1, 42);
EXPECT_TRUE(node->has_parameter(name1));
node->declare_parameter(name2, true);
EXPECT_TRUE(node->has_parameter(name2));
node->declare_parameter<std::string>(name3, "something");
EXPECT_TRUE(node->has_parameter(name3));
EXPECT_EQ(node->get_parameter(name1).get_value<int>(), 42);
EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name1, "not an integer")).successful);
EXPECT_EQ(node->get_parameter(name1).get_value<std::string>(), std::string("not an integer"));
EXPECT_EQ(node->get_parameter(name2).get_value<bool>(), true);
EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name2, false)).successful);
EXPECT_EQ(node->get_parameter(name2).get_value<bool>(), false);
}
{
// setting an undeclared parameter throws
auto name = "parameter"_unq;
EXPECT_FALSE(node->has_parameter(name));
EXPECT_THROW(
{node->set_parameter(rclcpp::Parameter(name, 42));},
rclcpp::exceptions::ParameterNotDeclaredException);
EXPECT_FALSE(node->has_parameter(name));
}
{
// rejecting parameter does not throw, but fails
auto name = "parameter"_unq;
node->declare_parameter(name, 42);
auto on_set_parameters =
[](const std::vector<rclcpp::Parameter> &) {
rcl_interfaces::msg::SetParametersResult result;
result.successful = false;
result.reason = "no parameter may not be set right now";
return result;
};
auto handler = node->add_on_set_parameters_callback(on_set_parameters);
RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());}); // always reset
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 43)).successful);
}
{
// setting type of rclcpp::PARAMETER_NOT_SET, when already not set, does not undeclare
auto name = "parameter"_unq;
auto value = node->declare_parameter(name);
EXPECT_TRUE(node->has_parameter(name));
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_NOT_SET);
EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name)).successful);
EXPECT_TRUE(node->has_parameter(name));
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_NOT_SET);
}
{
// setting type of rclcpp::PARAMETER_NOT_SET, when already to another type, will undeclare
auto name = "parameter"_unq;
node->declare_parameter(name, 42);
EXPECT_TRUE(node->has_parameter(name));
auto value = node->get_parameter(name);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name)).successful);
EXPECT_FALSE(node->has_parameter(name));
}
{
// setting a parameter with integer range descriptor
auto name = "parameter"_unq;
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.integer_range.resize(1);
auto & integer_range = descriptor.integer_range.at(0);
integer_range.from_value = 10;
integer_range.to_value = 18;
integer_range.step = 2;
node->declare_parameter(name, 10, descriptor);
EXPECT_TRUE(node->has_parameter(name));
auto value = node->get_parameter(name);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get_value<int64_t>(), 10);
EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name, 14)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 14);
EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name, 18)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 18);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 15)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 18);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 20)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 18);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 8)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 18);
}
{
// setting a parameter with integer range descriptor, from_value > to_value
auto name = "parameter"_unq;
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.integer_range.resize(1);
auto & integer_range = descriptor.integer_range.at(0);
integer_range.from_value = 20;
integer_range.to_value = 18;
integer_range.step = 1;
node->declare_parameter(name, 20, descriptor);
EXPECT_TRUE(node->has_parameter(name));
auto value = node->get_parameter(name);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get_value<int64_t>(), 20);
EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name, 18)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 18);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 19)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 18);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 10)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 18);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 25)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 18);
}
{
// setting a parameter with integer range descriptor, from_value = to_value
auto name = "parameter"_unq;
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.integer_range.resize(1);
auto & integer_range = descriptor.integer_range.at(0);
integer_range.from_value = 18;
integer_range.to_value = 18;
integer_range.step = 1;
node->declare_parameter(name, 18, descriptor);
EXPECT_TRUE(node->has_parameter(name));
auto value = node->get_parameter(name);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get_value<int64_t>(), 18);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 17)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 18);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 19)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 18);
}
{
// setting a parameter with integer range descriptor, step > distance(from_value, to_value)
auto name = "parameter"_unq;
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.integer_range.resize(1);
auto & integer_range = descriptor.integer_range.at(0);
integer_range.from_value = 18;
integer_range.to_value = 25;
integer_range.step = 10;
node->declare_parameter(name, 18, descriptor);
EXPECT_TRUE(node->has_parameter(name));
auto value = node->get_parameter(name);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get_value<int64_t>(), 18);
EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name, 25)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 25);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 17)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 25);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 19)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 25);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 26)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<int64_t>(), 25);
}
{
// setting a parameter with integer range descriptor, distance not multiple of the step.
auto name = "parameter"_unq;
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.integer_range.resize(1);
auto & integer_range = descriptor.integer_range.at(0);
integer_range.from_value = 18;
integer_range.to_value = 28;
integer_range.step = 7;
node->declare_parameter(name, 18, descriptor);
EXPECT_TRUE(node->has_parameter(name));
auto value = node->get_parameter(name);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get_value<int64_t>(), 18);