MPPI: Do not set params success in dynamic params callback to allow changing params in other plugins (#4908)

* remove result success from dyn param handler

Signed-off-by: pepisg <[email protected]>

* remove reason handling

Signed-off-by: pepisg <[email protected]>

* update tests

Signed-off-by: pepisg <[email protected]>

---------

Signed-off-by: pepisg <[email protected]>

Author: pepisg

nav2_mppi_controller/src/parameters_handler.cpp

@@ -69,12 +69,6 @@ ParametersHandler::dynamicParamsCallback(
       callback != get_param_callbacks_.end())
     {
       callback->second(param, result);
-    } else {
-      result.successful = false;
-      if (!result.reason.empty()) {
-        result.reason += "\n";
-      }
-      result.reason += "get_param_callback func for '" + param_name + "' not found.\n";
     }
   }
 

nav2_mppi_controller/test/parameter_handler_test.cpp

@@ -267,13 +267,6 @@ TEST(ParameterHandlerTest, DynamicAndStaticParametersNotDeclaredTest)
   EXPECT_EQ(result.successful, true);
   EXPECT_TRUE(result.reason.empty());
 
-  // Try to access some parameters that have not been declared
-  int p1 = 0, p2 = 0;
-  EXPECT_THROW(getParameter(p1, "not_declared", 8, ParameterType::Dynamic),
-               rclcpp::exceptions::InvalidParameterValueException);
-  EXPECT_THROW(getParameter(p2, "not_declared2", 9, ParameterType::Static),
-               rclcpp::exceptions::InvalidParameterValueException);
-
   // Try to set some parameters that have not been declared via the service client
   result_future = rec_param->set_parameters_atomically({
     rclcpp::Parameter("static_int", 10),
@@ -292,7 +285,4 @@ TEST(ParameterHandlerTest, DynamicAndStaticParametersNotDeclaredTest)
   // The ParameterNotDeclaredException handler in rclcpp/parameter_service.cpp
   // overrides any other reasons and does not provide details to the service client.
   EXPECT_EQ(result.reason, std::string("One or more parameters were not declared before setting"));
-
-  EXPECT_EQ(p1, 0);
-  EXPECT_EQ(p2, 0);
 }