Adding parameter warn_when_defaulting_parameters to control default parameter warnings (#5189)

* Adding a parameter warn_when_defaulting_parameters to control default parameter warnings instead of using a flag

Signed-off-by: Marco Bassa <[email protected]>

* Adding parameter strict_param_loading for optionally throwing an exception if parameter overrides are missing

Signed-off-by: Marco Bassa <[email protected]>

* Using default false declaration instead of declare_or_get in param util

Signed-off-by: Marco Bassa <[email protected]>

---------

Signed-off-by: Marco Bassa <[email protected]>

Author: MarcoMatteoBassa

nav2_util/test/test_node_utils.cpp

@@ -78,6 +78,50 @@ TEST(DeclareParameterIfNotDeclared, DeclareParameterIfNotDeclared)
   ASSERT_EQ(param, "fred");
 }
 
+TEST(DeclareOrGetParam, DeclareOrGetParam)
+{
+  auto node = std::make_shared<rclcpp::Node>("test_node");
+
+  // test declared parameter
+  node->declare_parameter("foobar", "foo");
+  std::string param = declare_or_get_parameter(node, "foobar", std::string{"bar"});
+  EXPECT_EQ(param, "foo");
+  node->get_parameter("foobar", param);
+  EXPECT_EQ(param, "foo");
+
+  // test undeclared parameter
+  node->set_parameter(rclcpp::Parameter("warn_on_missing_params", true));
+  int int_param = declare_or_get_parameter(node, "waldo", 3);
+  EXPECT_EQ(int_param, 3);
+
+  // test unknown parameter with strict_param_loading enabled
+  bool got_exception{false};
+  node->set_parameter(rclcpp::Parameter("strict_param_loading", true));
+  try {
+    declare_or_get_parameter(node, "burpy", true);
+  } catch (const rclcpp::exceptions::InvalidParameterValueException & exc) {
+    got_exception = true;
+  }
+  EXPECT_TRUE(got_exception);
+  // The parameter is anyway declared with the default val and subsequent calls won't fail
+  EXPECT_TRUE(declare_or_get_parameter(node, "burpy", true));
+
+  // test declaration by type of existing param
+  int_param = declare_or_get_parameter<int>(node, "waldo",
+    rclcpp::ParameterType::PARAMETER_INTEGER);
+  EXPECT_EQ(int_param, 3);
+
+  // test declaration by type of non existing param
+  got_exception = false;
+  try {
+    int_param = declare_or_get_parameter<int>(node, "wololo",
+      rclcpp::ParameterType::PARAMETER_INTEGER);
+  } catch (const rclcpp::exceptions::InvalidParameterValueException & exc) {
+    got_exception = true;
+  }
+  EXPECT_TRUE(got_exception);
+}
+
 TEST(GetPluginTypeParam, GetPluginTypeParam)
 {
   ::testing::FLAGS_gtest_death_test_style = "threadsafe";