mppi parameters_handler: Improve verbose handling (#4704) #4711
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The "verbose" parameter of the parameters_handler is a special case that needs registration before the dynamic parameter handler callback is registered. In verbose mode make the parameter handler info/warn/debug messages more expressive. Signed-off-by: Mike Wake <[email protected]>
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Codecov ReportAll modified and coverable lines are covered by tests ✅
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SteveMacenski
requested changes
Oct 7, 2024
nav2_mppi_controller/include/nav2_mppi_controller/tools/parameters_handler.hpp
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* remove comments. * Use RCLCPP_DEBUG instead of INFO for low level messages. * Add test for trying to access parameters that are not declared. Signed-off-by: Mike Wake <[email protected]>
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Oct 8, 2024
…os-navigation#4704) Attempts to change undefined parameters will not be successful and will log an error. Attempts to change static parameters will be ignored, a debug message is logged if a change in parameters is attempted. Signed-off-by: Mike Wake <[email protected]>
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| setting = as<T>(param); | ||
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| if (verbose_) { | ||
| RCLCPP_INFO(logger_, "Dynamic parameter changed: %s", std::to_string(param).c_str()); | ||
| } | ||
| }; | ||
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| addDynamicParamCallback(name, callback); | ||
| auto static_callback = [this, &setting, name](const rclcpp::Parameter & param) { |
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If a static callback is created, then if someone attempts to set a static parameter through the dynamic parameter interface, it would return true on the change, even though its static and rejected the update. I would think that it should fail to find the callback and thus return false, just as if the parameter doesn't exist since this parameter is not able to be adjusted dynamically
I see that it logs, which is good, but I think the dynamic parameter setting application needs to get a failure code that it indeed did not successfully set the new parameter's value
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The "verbose" parameter of the parameters_handler is a special case that needs registration before the
dynamic parameter handler callback is registered.
In verbose mode make the parameter handler info/warn/debug messages more expressive.
Basic Info
Description of contribution in a few bullet points
Improve the verbose handling of the mppi parameter_handler class and make it more verbose to
help distinguish between ParameterType::Dynamic and ParameterType::Static parameters.
Description of documentation updates required from your changes
Key point is to treat the verbose parameter of the mppi parameter_handler class
as a special case and register it BEFORE the dynamic parameter handler callback is
registered.
Other parameters may be "ParameterType::Static" on purpose, so a decision is required
about whether or not to return false from the dynamicParamsCallback is required.
I left it as false as per initial PR.
Future work that may be required in bullet points
Make decision about returning false and remove commented out return true.
For Maintainers: