Allow declaring uninitialized parameters #798
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Parameters can now be declared without a default value and without an override. Attempting to access a statically typed parameter that does not have value will raise an exception. Getting dynamically typed parameters will return an unset parameter value. This change is equivalent to that made in rclcpp: ros2/rclcpp#1673 Signed-off-by: Jacob Perron <[email protected]>
jacobperron
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May 18, 2021
Signed-off-by: Jacob Perron <[email protected]>
ivanpauno
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May 18, 2021
| parameters: List[Union[ | ||
| Tuple[str], | ||
| Tuple[str, Parameter.Type], | ||
| Tuple[str, Any], |
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wasn't this for passing a value, e.g.: declare_parameters('', [('my_param', 5)])?
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I think the annotation was incorrect before. IIUC, we only expect a tuple up to length 3. The last value of the tuple can have type ParameterDescriptor or Any (for the case of passing a value).
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Line 630 in 1b335d3
We actually can be more specific than using Any, I think Union[int, float, str, bytes, None] would be fine
wjwwood
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May 18, 2021
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lgtm, with green CI and some manual testing to check for sanity.
Signed-off-by: Jacob Perron <[email protected]>
Signed-off-by: Jacob Perron <[email protected]>
Signed-off-by: Jacob Perron <[email protected]>
This is the same behavior as rclcpp. Signed-off-by: Jacob Perron <[email protected]>
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Thanks for the reviews. I think I've addressed everything. PTAL. |
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CI:
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Signed-off-by: Jacob Perron <[email protected]>
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Thanks for triggering CI! |
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Just retriggering Linux to confirm the linter is happy now: |
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* Allow declaring uninitialized parameters Parameters can now be declared without a default value and without an override. Attempting to access a statically typed parameter that does not have value will raise an exception. Getting dynamically typed parameters will return an unset parameter value. This change is equivalent to that made in rclcpp: ros2/rclcpp#1673 Signed-off-by: Jacob Perron <[email protected]> * Fix flake8 Signed-off-by: Jacob Perron <[email protected]> * Minor refactor Signed-off-by: Jacob Perron <[email protected]> * Don't allow static parameters to be undeclared Signed-off-by: Jacob Perron <[email protected]> * Return alternative for uninitialized parameters in get_parameter_or Signed-off-by: Jacob Perron <[email protected]> * Ditto for dynamic parameters This is the same behavior as rclcpp. Signed-off-by: Jacob Perron <[email protected]> * Fix lint Signed-off-by: Jacob Perron <[email protected]>
jacobperron
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May 20, 2021
* Allow declaring uninitialized parameters Parameters can now be declared without a default value and without an override. Attempting to access a statically typed parameter that does not have value will raise an exception. Getting dynamically typed parameters will return an unset parameter value. This change is equivalent to that made in rclcpp: ros2/rclcpp#1673 Signed-off-by: Jacob Perron <[email protected]> * Fix flake8 Signed-off-by: Jacob Perron <[email protected]> * Minor refactor Signed-off-by: Jacob Perron <[email protected]> * Don't allow static parameters to be undeclared Signed-off-by: Jacob Perron <[email protected]> * Return alternative for uninitialized parameters in get_parameter_or Signed-off-by: Jacob Perron <[email protected]> * Ditto for dynamic parameters This is the same behavior as rclcpp. Signed-off-by: Jacob Perron <[email protected]> * Fix lint Signed-off-by: Jacob Perron <[email protected]>
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Parameters can now be declared without a default value and without an override.
Attempting to access a statically typed parameter that does not have value will raise an exception.
Getting dynamically typed parameters will return an unset parameter value.
This change is equivalent to that made in rclcpp: ros2/rclcpp#1673