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Use the new declare_or_get_parameter API for nav2_costmap_2d #5659

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Use the new declare_or_get_parameter API for nav2_costmap_2d #5659

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c306953
Migrate the parameter API usage in nav2_costmap_2d package to the new…
leander-dsouza Oct 27, 2025
aabe5bc
Remove redundant set_parameter calls.
leander-dsouza Oct 27, 2025
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17 changes: 5 additions & 12 deletions nav2_costmap_2d/plugins/plugin_container_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,18 +35,11 @@ void PluginContainerLayer::onInitialize()
throw std::runtime_error{"Failed to lock node"};
}

nav2::declare_parameter_if_not_declared(node, name_ + "." + "enabled",
rclcpp::ParameterValue(true));
nav2::declare_parameter_if_not_declared(node, name_ + "." + "plugins",
rclcpp::ParameterValue(std::vector<std::string>{}));
nav2::declare_parameter_if_not_declared(node, name_ + "." + "combination_method",
rclcpp::ParameterValue(1));

node->get_parameter(name_ + "." + "enabled", enabled_);
node->get_parameter(name_ + "." + "plugins", plugin_names_);

int combination_method_param{};
node->get_parameter(name_ + "." + "combination_method", combination_method_param);
enabled_ = node->declare_or_get_parameter(name_ + "." + "enabled", true);
plugin_names_ = node->declare_or_get_parameter(
name_ + "." + "plugins", std::vector<std::string>{});
int combination_method_param = node->declare_or_get_parameter(
name_ + "." + "combination_method", 1);
combination_method_ = combination_method_from_int(combination_method_param);

dyn_params_handler_ = node->add_on_set_parameters_callback(
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36 changes: 13 additions & 23 deletions nav2_costmap_2d/src/costmap_2d_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,10 +108,6 @@ void Costmap2DROS::init()
{
RCLCPP_INFO(get_logger(), "Creating Costmap");

declare_parameter("always_send_full_costmap", rclcpp::ParameterValue(false));
declare_parameter("map_vis_z", rclcpp::ParameterValue(0.0));
declare_parameter("footprint_padding", rclcpp::ParameterValue(0.01f));
declare_parameter("footprint", rclcpp::ParameterValue(std::string("[]")));
declare_parameter("global_frame", rclcpp::ParameterValue(std::string("map")));
declare_parameter("height", rclcpp::ParameterValue(5));
declare_parameter("width", rclcpp::ParameterValue(5));
Expand All @@ -120,20 +116,12 @@ void Costmap2DROS::init()
declare_parameter("origin_x", rclcpp::ParameterValue(0.0));
declare_parameter("origin_y", rclcpp::ParameterValue(0.0));
declare_parameter("plugins", rclcpp::ParameterValue(default_plugins_));
declare_parameter("filters", rclcpp::ParameterValue(std::vector<std::string>()));
declare_parameter("publish_frequency", rclcpp::ParameterValue(1.0));
declare_parameter("resolution", rclcpp::ParameterValue(0.1));
declare_parameter("robot_base_frame", rclcpp::ParameterValue(std::string("base_link")));
declare_parameter("robot_radius", rclcpp::ParameterValue(0.1));
declare_parameter("rolling_window", rclcpp::ParameterValue(false));
declare_parameter("track_unknown_space", rclcpp::ParameterValue(false));
declare_parameter("transform_tolerance", rclcpp::ParameterValue(0.3));
declare_parameter("initial_transform_timeout", rclcpp::ParameterValue(60.0));
declare_parameter("trinary_costmap", rclcpp::ParameterValue(true));
declare_parameter("unknown_cost_value", rclcpp::ParameterValue(static_cast<unsigned char>(0xff)));
declare_parameter("update_frequency", rclcpp::ParameterValue(5.0));
declare_parameter("use_maximum", rclcpp::ParameterValue(false));
declare_parameter("subscribe_to_stamped_footprint", rclcpp::ParameterValue(false));
}

Costmap2DROS::~Costmap2DROS()
Expand Down Expand Up @@ -402,27 +390,29 @@ Costmap2DROS::getParameters()
RCLCPP_DEBUG(get_logger(), " getParameters");

// Get all of the required parameters
get_parameter("always_send_full_costmap", always_send_full_costmap_);
get_parameter("map_vis_z", map_vis_z_);
get_parameter("footprint", footprint_);
get_parameter("footprint_padding", footprint_padding_);
always_send_full_costmap_ = declare_or_get_parameter("always_send_full_costmap", false);
map_vis_z_ = declare_or_get_parameter("map_vis_z", 0.0);
footprint_ = declare_or_get_parameter("footprint", std::string("[]"));
footprint_padding_ = declare_or_get_parameter("footprint_padding", 0.01f);
map_publish_frequency_ = declare_or_get_parameter("publish_frequency", 1.0);
rolling_window_ = declare_or_get_parameter("rolling_window", false);
track_unknown_space_ = declare_or_get_parameter("track_unknown_space", false);
transform_tolerance_ = declare_or_get_parameter("transform_tolerance", 0.3);
map_update_frequency_ = declare_or_get_parameter("update_frequency", 5.0);
filter_names_ = declare_or_get_parameter("filters", std::vector<std::string>());
subscribe_to_stamped_footprint_ = declare_or_get_parameter(
"subscribe_to_stamped_footprint", false);

get_parameter("global_frame", global_frame_);
get_parameter("height", map_height_meters_);
get_parameter("origin_x", origin_x_);
get_parameter("origin_y", origin_y_);
get_parameter("publish_frequency", map_publish_frequency_);
get_parameter("resolution", resolution_);
get_parameter("robot_base_frame", robot_base_frame_);
get_parameter("robot_radius", robot_radius_);
get_parameter("rolling_window", rolling_window_);
get_parameter("track_unknown_space", track_unknown_space_);
get_parameter("transform_tolerance", transform_tolerance_);
get_parameter("initial_transform_timeout", initial_transform_timeout_);
get_parameter("update_frequency", map_update_frequency_);
get_parameter("width", map_width_meters_);
get_parameter("plugins", plugin_names_);
get_parameter("filters", filter_names_);
get_parameter("subscribe_to_stamped_footprint", subscribe_to_stamped_footprint_);

auto node = shared_from_this();

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2 changes: 0 additions & 2 deletions nav2_costmap_2d/test/unit/costmap_filter_service_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,8 +70,6 @@ class TestNode : public ::testing::Test
// Set CostmapFilter ROS-parameters
node_->declare_parameter(
std::string(FILTER_NAME) + ".filter_info_topic", rclcpp::ParameterValue("filter_info"));
node_->set_parameter(
rclcpp::Parameter(std::string(FILTER_NAME) + ".filter_info_topic", "filter_info"));
}

~TestNode()
Expand Down
4 changes: 0 additions & 4 deletions nav2_costmap_2d/test/unit/keepout_filter_test.cpp
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Expand Up @@ -219,12 +219,8 @@ void TestNode::createKeepoutFilter(const std::string & global_frame)

node_->declare_parameter(
std::string(FILTER_NAME) + ".transform_tolerance", rclcpp::ParameterValue(0.5));
node_->set_parameter(
rclcpp::Parameter(std::string(FILTER_NAME) + ".transform_tolerance", 0.5));
node_->declare_parameter(
std::string(FILTER_NAME) + ".filter_info_topic", rclcpp::ParameterValue(INFO_TOPIC));
node_->set_parameter(
rclcpp::Parameter(std::string(FILTER_NAME) + ".filter_info_topic", INFO_TOPIC));

keepout_filter_ = std::make_shared<nav2_costmap_2d::KeepoutFilter>();
keepout_filter_->initialize(&layers, std::string(FILTER_NAME), tf_buffer_.get(), node_, nullptr);
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6 changes: 0 additions & 6 deletions nav2_costmap_2d/test/unit/speed_filter_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -352,16 +352,10 @@ bool TestNode::createSpeedFilter(const std::string & global_frame)

node_->declare_parameter(
std::string(FILTER_NAME) + ".transform_tolerance", rclcpp::ParameterValue(0.5));
node_->set_parameter(
rclcpp::Parameter(std::string(FILTER_NAME) + ".transform_tolerance", 0.5));
node_->declare_parameter(
std::string(FILTER_NAME) + ".filter_info_topic", rclcpp::ParameterValue(INFO_TOPIC));
node_->set_parameter(
rclcpp::Parameter(std::string(FILTER_NAME) + ".filter_info_topic", INFO_TOPIC));
node_->declare_parameter(
std::string(FILTER_NAME) + ".speed_limit_topic", rclcpp::ParameterValue(SPEED_LIMIT_TOPIC));
node_->set_parameter(
rclcpp::Parameter(std::string(FILTER_NAME) + ".speed_limit_topic", SPEED_LIMIT_TOPIC));

speed_filter_ = std::make_shared<nav2_costmap_2d::SpeedFilter>();
speed_filter_->initialize(&layers, FILTER_NAME, tf_buffer_.get(), node_, nullptr);
Expand Down
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