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Update invalid parameter exception handling #2347

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Merged
merged 4 commits into from
May 20, 2021
Merged

Update invalid parameter exception handling #2347

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b520b5b
Rename rclcpp parameter exception
jacobperron May 18, 2021
8c44967
Exception is thrown when getting the parameter
jacobperron May 18, 2021
8a33fc2
Fix test
jacobperron May 18, 2021
8f05ada
Fix typo
jacobperron May 19, 2021
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5 changes: 3 additions & 2 deletions nav2_costmap_2d/test/unit/declare_parameter_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,10 +65,11 @@ TEST(DeclareParameter, useInvalidParameter)

layer.initialize(&layers, "test_layer", &tf, node, nullptr, nullptr);

layer.declareParameter("test2", rclcpp::PARAMETER_STRING);
try {
layer.declareParameter("test2", rclcpp::PARAMETER_STRING);
std::string val = node->get_parameter("test_layer.test2").as_string();
FAIL() << "Incorrectly handling test_layer.test2 parameter which was not set";
} catch (rclcpp::exceptions::NoParameterOverrideProvided & ex) {
} catch (rclcpp::exceptions::ParameterUninitializedException & ex) {
SUCCEED();
}
}
20 changes: 9 additions & 11 deletions nav2_util/include/nav2_util/node_utils.hpp
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Expand Up @@ -104,9 +104,6 @@ void declare_parameter_if_not_declared(

/// Declares static ROS2 parameter with given type if it was not already declared
/* Declares static ROS2 parameter with given type if it was not already declared.
* NOTE: The parameter should be set via input param-file
* or throught a command-line. Otherwise according to the RCLCPP API,
* NoParameterOverrideProvided exception will be thrown by declare_parameter().
*
* \param[in] node A node in which given parameter to be declared
* \param[in] param_type The type of parameter
Expand Down Expand Up @@ -140,18 +137,19 @@ std::string get_plugin_type_param(
NodeT node,
const std::string & plugin_name)
{
declare_parameter_if_not_declared(node, plugin_name + ".plugin", rclcpp::PARAMETER_STRING);
std::string plugin_type;
try {
declare_parameter_if_not_declared(node, plugin_name + ".plugin", rclcpp::PARAMETER_STRING);
} catch (rclcpp::exceptions::NoParameterOverrideProvided & ex) {
if (!node->get_parameter(plugin_name + ".plugin", plugin_type)) {
RCLCPP_FATAL(
node->get_logger(), "Can not get 'plugin' param value for %s", plugin_name.c_str());
exit(-1);
}
} catch (rclcpp::exceptions::ParameterUninitializedException & ex) {
RCLCPP_FATAL(node->get_logger(), "'plugin' param not defined for %s", plugin_name.c_str());
exit(-1);
}
std::string plugin_type;
if (!node->get_parameter(plugin_name + ".plugin", plugin_type)) {
RCLCPP_FATAL(
node->get_logger(), "Can not get 'plugin' param value for %s", plugin_name.c_str());
exit(-1);
}

return plugin_type;
}

Expand Down