Refactor parameter handler

nav2_amcl/include/nav2_amcl/amcl_node.hpp

@@ -100,15 +100,15 @@ class AmclNode : public nav2::LifecycleNode
    * @return rcl_interfaces::msg::SetParametersResult Result indicating whether the update is accepted.
    */
   rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
-    std::vector<rclcpp::Parameter> parameters);
+    const std::vector<rclcpp::Parameter> & parameters);
 
   /**
    * @brief Apply parameter updates after validation
    * This callback is executed when parameters have been successfully updated.
    * It updates the internal configuration of the node with the new parameter values.
    * @param parameters List of parameters that have been updated.
    */
-  void updateParametersCallback(std::vector<rclcpp::Parameter> parameters);
+  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
 
   // Dynamic parameters handler
   rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;

nav2_amcl/src/amcl_node.cpp

@@ -993,11 +993,11 @@ AmclNode::initParameters()
 }
 
 rcl_interfaces::msg::SetParametersResult AmclNode::validateParameterUpdatesCallback(
-  std::vector<rclcpp::Parameter> parameters)
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   rcl_interfaces::msg::SetParametersResult result;
   result.successful = true;
-  for (auto parameter : parameters) {
+  for (const auto & parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
     if (param_name.find('.') != std::string::npos) {
@@ -1043,7 +1043,7 @@ rcl_interfaces::msg::SetParametersResult AmclNode::validateParameterUpdatesCallb
 
 void
 AmclNode::updateParametersCallback(
-  std::vector<rclcpp::Parameter> parameters)
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   std::lock_guard<std::recursive_mutex> cfl(mutex_);
 

nav2_dwb_controller/dwb_plugins/include/dwb_plugins/kinematic_parameters.hpp

@@ -168,15 +168,15 @@ class KinematicsHandler
    * @return rcl_interfaces::msg::SetParametersResult Result indicating whether the update is accepted.
    */
   rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
-    std::vector<rclcpp::Parameter> parameters);
+    const std::vector<rclcpp::Parameter> & parameters);
 
   /**
    * @brief Apply parameter updates after validation
    * This callback is executed when parameters have been successfully updated.
    * It updates the internal configuration of the node with the new parameter values.
    * @param parameters List of parameters that have been updated.
    */
-  void updateParametersCallback(std::vector<rclcpp::Parameter> parameters);
+  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
   void update_kinematics(KinematicParameters kinematics);
   std::string plugin_name_;
 };

nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp

@@ -189,11 +189,11 @@ void KinematicsHandler::setSpeedLimit(
 }
 
 rcl_interfaces::msg::SetParametersResult KinematicsHandler::validateParameterUpdatesCallback(
-  std::vector<rclcpp::Parameter> parameters)
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   rcl_interfaces::msg::SetParametersResult result;
   result.successful = true;
-  for (auto parameter : parameters) {
+  for (const auto & parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
     if (param_name.find(plugin_name_ + ".") != 0) {
@@ -229,12 +229,12 @@ rcl_interfaces::msg::SetParametersResult KinematicsHandler::validateParameterUpd
 }
 
 void
-KinematicsHandler::updateParametersCallback(std::vector<rclcpp::Parameter> parameters)
+KinematicsHandler::updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters)
 {
   rcl_interfaces::msg::SetParametersResult result;
   KinematicParameters kinematics(*kinematics_.load());
 
-  for (auto parameter : parameters) {
+  for (const auto & parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
     if (param_name.find(plugin_name_ + ".") != 0) {

nav2_graceful_controller/include/nav2_graceful_controller/parameter_handler.hpp

@@ -21,8 +21,7 @@
 #include <algorithm>
 #include <mutex>
 
-#include "nav2_util/odometry_utils.hpp"
-#include "nav2_util/geometry_utils.hpp"
+#include "nav2_util/parameter_handler.hpp"
 #include "nav2_ros_common/lifecycle_node.hpp"
 #include "nav2_ros_common/node_utils.hpp"
 
@@ -59,39 +58,18 @@ struct Parameters
  * @class nav2_graceful_controller::ParameterHandler
  * @brief Handles parameters and dynamic parameters for GracefulMotionController
  */
-class ParameterHandler
+class ParameterHandler : public nav2_util::ParameterHandler<Parameters>
 {
 public:
   /**
    * @brief Constructor for nav2_graceful_controller::ParameterHandler
    */
   ParameterHandler(
-    nav2::LifecycleNode::SharedPtr node,
+    const nav2::LifecycleNode::SharedPtr & node,
     std::string & plugin_name,
     rclcpp::Logger & logger, const double costmap_size_x);
 
-  /**
-   * @brief Destructor for nav2_graceful_controller::ParameterHandler
-   */
-  ~ParameterHandler();
-
-  std::mutex & getMutex() {return mutex_;}
-
-  Parameters * getParams() {return &params_;}
-
-  /**
-  * @brief Registers callbacks for dynamic parameter handling.
-  */
-  void activate();
-
-  /**
-  * @brief Resets callbacks for dynamic parameter handling.
-  */
-  void deactivate();
-
 protected:
-  nav2::LifecycleNode::WeakPtr node_;
-
   /**
    * @brief Validate incoming parameter updates before applying them.
    * This callback is triggered when one or more parameters are about to be updated.
@@ -101,23 +79,17 @@ class ParameterHandler
    * @return rcl_interfaces::msg::SetParametersResult Result indicating whether the update is accepted.
    */
   rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
-    std::vector<rclcpp::Parameter> parameters);
+    const std::vector<rclcpp::Parameter> & parameters) override;
 
   /**
    * @brief Apply parameter updates after validation
    * This callback is executed when parameters have been successfully updated.
    * It updates the internal configuration of the node with the new parameter values.
    * @param parameters List of parameters that have been updated.
    */
-  void updateParametersCallback(std::vector<rclcpp::Parameter> parameters);
+  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters) override;
 
-  // Dynamic parameters handler
-  std::mutex mutex_;
-  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
-  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
-  Parameters params_;
   std::string plugin_name_;
-  rclcpp::Logger logger_ {rclcpp::get_logger("GracefulMotionController")};
 };
 
 }  // namespace nav2_graceful_controller

nav2_graceful_controller/src/parameter_handler.cpp

@@ -28,13 +28,11 @@ using nav2::declare_parameter_if_not_declared;
 using rcl_interfaces::msg::ParameterType;
 
 ParameterHandler::ParameterHandler(
-  nav2::LifecycleNode::SharedPtr node, std::string & plugin_name,
+  const nav2::LifecycleNode::SharedPtr & node, std::string & plugin_name,
   rclcpp::Logger & logger, const double costmap_size_x)
+: nav2_util::ParameterHandler<Parameters>(node, logger)
 {
-  node_ = node;
   plugin_name_ = plugin_name;
-  logger_ = logger;
-
   declare_parameter_if_not_declared(
     node, plugin_name_ + ".transform_tolerance", rclcpp::ParameterValue(0.1));
   declare_parameter_if_not_declared(
@@ -116,42 +114,12 @@ ParameterHandler::ParameterHandler(
   }
 }
 
-void ParameterHandler::activate()
-{
-  auto node = node_.lock();
-  post_set_params_handler_ = node->add_post_set_parameters_callback(
-    std::bind(
-      &ParameterHandler::updateParametersCallback,
-      this, std::placeholders::_1));
-  on_set_params_handler_ = node->add_on_set_parameters_callback(
-    std::bind(
-      &ParameterHandler::validateParameterUpdatesCallback,
-      this, std::placeholders::_1));
-}
-
-void ParameterHandler::deactivate()
-{
-  auto node = node_.lock();
-  if (post_set_params_handler_ && node) {
-    node->remove_post_set_parameters_callback(post_set_params_handler_.get());
-  }
-  post_set_params_handler_.reset();
-  if (on_set_params_handler_ && node) {
-    node->remove_on_set_parameters_callback(on_set_params_handler_.get());
-  }
-  on_set_params_handler_.reset();
-}
-
-ParameterHandler::~ParameterHandler()
-{
-}
-
 rcl_interfaces::msg::SetParametersResult ParameterHandler::validateParameterUpdatesCallback(
-  std::vector<rclcpp::Parameter> parameters)
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   rcl_interfaces::msg::SetParametersResult result;
   result.successful = true;
-  for (auto parameter : parameters) {
+  for (const auto & parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
     if (param_name.find(plugin_name_ + ".") != 0) {
@@ -187,7 +155,7 @@ rcl_interfaces::msg::SetParametersResult ParameterHandler::validateParameterUpda
 }
 void
 ParameterHandler::updateParametersCallback(
-  std::vector<rclcpp::Parameter> parameters)
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   std::lock_guard<std::mutex> lock_reinit(mutex_);
 

nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/parameter_handler.hpp

@@ -23,8 +23,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "nav2_ros_common/lifecycle_node.hpp"
-#include "nav2_util/odometry_utils.hpp"
-#include "nav2_util/geometry_utils.hpp"
+#include "nav2_util/parameter_handler.hpp"
 #include "nav2_ros_common/node_utils.hpp"
 
 namespace nav2_regulated_pure_pursuit_controller
@@ -69,47 +68,26 @@ struct Parameters
  * @class nav2_regulated_pure_pursuit_controller::ParameterHandler
  * @brief Handles parameters and dynamic parameters for RPP
  */
-class ParameterHandler
+class ParameterHandler : public nav2_util::ParameterHandler<Parameters>
 {
 public:
   /**
    * @brief Constructor for nav2_regulated_pure_pursuit_controller::ParameterHandler
    */
   ParameterHandler(
-    nav2::LifecycleNode::SharedPtr node,
+    const nav2::LifecycleNode::SharedPtr & node,
     std::string & plugin_name,
     rclcpp::Logger & logger, const double costmap_size_x);
 
-  /**
-   * @brief Destrructor for nav2_regulated_pure_pursuit_controller::ParameterHandler
-   */
-  ~ParameterHandler();
-
-  std::mutex & getMutex() {return mutex_;}
-
-  Parameters * getParams() {return &params_;}
-
-  /**
-  * @brief Registers callbacks for dynamic parameter handling.
-  */
-  void activate();
-
-  /**
-  * @brief Resets callbacks for dynamic parameter handling.
-  */
-  void deactivate();
-
 protected:
-  nav2::LifecycleNode::WeakPtr node_;
-
   /**
    * @brief Apply parameter updates after validation
    * This callback is executed when parameters have been successfully updated.
    * It updates the internal configuration of the node with the new parameter values.
    * @param parameters List of parameters that have been updated.
    */
   void
-  updateParametersCallback(std::vector<rclcpp::Parameter> parameters);
+  updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters) override;
 
   /**
    * @brief Validate incoming parameter updates before applying them.
@@ -120,15 +98,9 @@ class ParameterHandler
    * @return rcl_interfaces::msg::SetParametersResult Result indicating whether the update is accepted.
    */
   rcl_interfaces::msg::SetParametersResult
-  validateParameterUpdatesCallback(std::vector<rclcpp::Parameter> parameters);
+  validateParameterUpdatesCallback(const std::vector<rclcpp::Parameter> & parameters) override;
 
-  // Dynamic parameters handler
-  std::mutex mutex_;
-  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
-  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
-  Parameters params_;
   std::string plugin_name_;
-  rclcpp::Logger logger_ {rclcpp::get_logger("RegulatedPurePursuitController")};
 };
 
 }  // namespace nav2_regulated_pure_pursuit_controller

nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp

@@ -28,13 +28,12 @@ using nav2::declare_parameter_if_not_declared;
 using rcl_interfaces::msg::ParameterType;
 
 ParameterHandler::ParameterHandler(
-  nav2::LifecycleNode::SharedPtr node,
+  const nav2::LifecycleNode::SharedPtr & node,
   std::string & plugin_name, rclcpp::Logger & logger,
   const double costmap_size_x)
+: nav2_util::ParameterHandler<Parameters>(node, logger)
 {
-  node_ = node;
   plugin_name_ = plugin_name;
-  logger_ = logger;
 
   declare_parameter_if_not_declared(
     node, plugin_name_ + ".desired_linear_vel", rclcpp::ParameterValue(0.5));
@@ -199,42 +198,12 @@ ParameterHandler::ParameterHandler(
   }
 }
 
-void ParameterHandler::activate()
-{
-  auto node = node_.lock();
-  post_set_params_handler_ = node->add_post_set_parameters_callback(
-    std::bind(
-      &ParameterHandler::updateParametersCallback,
-      this, std::placeholders::_1));
-  on_set_params_handler_ = node->add_on_set_parameters_callback(
-    std::bind(
-      &ParameterHandler::validateParameterUpdatesCallback,
-      this, std::placeholders::_1));
-}
-
-void ParameterHandler::deactivate()
-{
-  auto node = node_.lock();
-  if (post_set_params_handler_ && node) {
-    node->remove_post_set_parameters_callback(post_set_params_handler_.get());
-  }
-  post_set_params_handler_.reset();
-  if (on_set_params_handler_ && node) {
-    node->remove_on_set_parameters_callback(on_set_params_handler_.get());
-  }
-  on_set_params_handler_.reset();
-}
-
-ParameterHandler::~ParameterHandler()
-{
-}
-
 rcl_interfaces::msg::SetParametersResult ParameterHandler::validateParameterUpdatesCallback(
-  std::vector<rclcpp::Parameter> parameters)
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   rcl_interfaces::msg::SetParametersResult result;
   result.successful = true;
-  for (auto parameter : parameters) {
+  for (const auto & parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
     if (param_name.find(plugin_name_ + ".") != 0) {
@@ -270,7 +239,7 @@ rcl_interfaces::msg::SetParametersResult ParameterHandler::validateParameterUpda
 }
 void
 ParameterHandler::updateParametersCallback(
-  std::vector<rclcpp::Parameter> parameters)
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   std::lock_guard<std::mutex> lock_reinit(mutex_);