Updated node declare_parameter to new syntax (ros2#882)

- also added required defaults for optional parameters (qos set)

Signed-off-by: Adam Dabrowski <[email protected]>

rosbag2_performance/rosbag2_performance_benchmarking/src/config_utils.cpp

@@ -28,13 +28,14 @@ void load_qos_configuration(
   PublisherGroupConfig & group_config,
   const std::string & group_prefix)
 {
+  unsigned int qos_depth = 10;
+  std::string qos_reliability = "reliable";
+  std::string qos_durability = "volatile";
   auto qos_prefix = group_prefix + ".qos";
-  node.declare_parameter(qos_prefix + ".qos_depth");
-  node.declare_parameter(qos_prefix + ".qos_reliability");
-  node.declare_parameter(qos_prefix + ".qos_durability");
+  node.declare_parameter<int>(qos_prefix + ".qos_depth", qos_depth);
+  node.declare_parameter<std::string>(qos_prefix + ".qos_reliability", qos_reliability);
+  node.declare_parameter<std::string>(qos_prefix + ".qos_durability", qos_durability);
 
-  unsigned int qos_depth = 10;
-  std::string qos_reliability, qos_durability;
   node.get_parameter(qos_prefix + ".qos_depth", qos_depth);
   node.get_parameter(qos_prefix + ".qos_reliability", qos_reliability);
   node.get_parameter(qos_prefix + ".qos_durability", qos_durability);
@@ -50,7 +51,7 @@ void load_qos_configuration(
 bool wait_for_subscriptions_from_node_parameters(rclcpp::Node & node)
 {
   const std::string parameters_ns = "publishers";
-  node.declare_parameter(parameters_ns + ".wait_for_subscriptions", true);
+  node.declare_parameter<bool>(parameters_ns + ".wait_for_subscriptions", true);
   bool wait_for_subscriptions;
   node.get_parameter(parameters_ns + ".wait_for_subscriptions", wait_for_subscriptions);
   return wait_for_subscriptions;
@@ -62,15 +63,15 @@ std::vector<PublisherGroupConfig> publisher_groups_from_node_parameters(
   std::vector<PublisherGroupConfig> configurations;
   std::vector<std::string> publisher_groups;
   const std::string parameters_ns = "publishers";
-  node.declare_parameter(parameters_ns + ".publisher_groups");
+  node.declare_parameter<std::vector<std::string>>(parameters_ns + ".publisher_groups");
   node.get_parameter(parameters_ns + ".publisher_groups", publisher_groups);
   for (const auto & group_name : publisher_groups) {
     auto group_prefix = parameters_ns + "." + group_name;
-    node.declare_parameter(group_prefix + ".publishers_count");
-    node.declare_parameter(group_prefix + ".topic_root");
-    node.declare_parameter(group_prefix + ".msg_size_bytes");
-    node.declare_parameter(group_prefix + ".msg_count_each");
-    node.declare_parameter(group_prefix + ".rate_hz");
+    node.declare_parameter<int>(group_prefix + ".publishers_count");
+    node.declare_parameter<std::string>(group_prefix + ".topic_root");
+    node.declare_parameter<int>(group_prefix + ".msg_size_bytes");
+    node.declare_parameter<int>(group_prefix + ".msg_count_each");
+    node.declare_parameter<int>(group_prefix + ".rate_hz");
 
     PublisherGroupConfig group_config;
     node.get_parameter(
@@ -108,14 +109,14 @@ BagConfig bag_config_from_node_parameters(
   const std::string default_bag_folder("/tmp/rosbag2_test");
   BagConfig bag_config;
 
-  node.declare_parameter("storage_id", "sqlite3");
-  node.declare_parameter("max_cache_size", 10000000);
-  node.declare_parameter("max_bag_size", 0);
-  node.declare_parameter("db_folder", default_bag_folder);
-  node.declare_parameter("storage_config_file", "");
-  node.declare_parameter("compression_format", "");
-  node.declare_parameter("compression_queue_size", 1);
-  node.declare_parameter("compression_threads", 0);
+  node.declare_parameter<std::string>("storage_id", "sqlite3");
+  node.declare_parameter<int>("max_cache_size", 10000000);
+  node.declare_parameter<int>("max_bag_size", 0);
+  node.declare_parameter<std::string>("db_folder", default_bag_folder);
+  node.declare_parameter<std::string>("storage_config_file", "");
+  node.declare_parameter<std::string>("compression_format", "");
+  node.declare_parameter<int>("compression_queue_size", 1);
+  node.declare_parameter<int>("compression_threads", 0);
 
   node.get_parameter("storage_id", bag_config.storage_options.storage_id);
   node.get_parameter("max_cache_size", bag_config.storage_options.max_cache_size);