Adding ability to add parameters through yaml at runtime

rclcpp/include/rclcpp/copy_all_parameter_values.hpp → rclcpp/include/rclcpp/parameter_interfaces.hpp

@@ -12,17 +12,23 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
-#define RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
+#ifndef RCLCPP__PARAMETER_INTERFACES_HPP_
+#define RCLCPP__PARAMETER_INTERFACES_HPP_
 
 #include <string>
 #include <vector>
 
+#include "node_interfaces/node_base_interface.hpp"
+#include "node_interfaces/node_parameters_interface.hpp"
 #include "rcl_interfaces/srv/list_parameters.hpp"
 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
 #include "rcl_interfaces/msg/set_parameters_result.hpp"
 
+#include "rclcpp/node_interfaces/node_interfaces.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 #include "rclcpp/parameter.hpp"
+#include "rclcpp/parameter_map.hpp"
 #include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
 
@@ -77,6 +83,36 @@ copy_all_parameter_values(
   }
 }
 
+/// Load a list of parameters from a yaml parameter file.
+/**
+ * \param[in] yaml_name The name of the yaml file that needs to be loaded.
+ * \param[in] node_interface The list of variadic NodeInterfaces taken as a template to set parameters for.
+ * \returns an instance of a parameter map.
+ * \throws InvalidParametersException if no valid parameters found.
+ */
+std::vector<rcl_interfaces::msg::SetParametersResult>
+load_parameters(
+  const std::string & yaml_filepath, rclcpp::node_interfaces::NodeInterfaces<
+    rclcpp::node_interfaces::NodeBaseInterface,
+    rclcpp::node_interfaces::NodeParametersInterface> node_interface)
+{
+  auto base_node = node_interface.get<rclcpp::node_interfaces::NodeBaseInterface>();
+  base_node = node_interface.get_node_base_interface();
+  auto parameter_node = node_interface.get<rclcpp::node_interfaces::NodeParametersInterface>();
+  parameter_node = node_interface.get_node_parameters_interface();
+
+  rclcpp::ParameterMap parameter_map =
+    rclcpp::parameter_map_from_yaml_file(yaml_filepath, base_node->get_fully_qualified_name());
+
+  auto iter = parameter_map.find(base_node->get_fully_qualified_name());
+  if (iter == parameter_map.end() || iter->second.size() == 0) {
+    throw rclcpp::exceptions::InvalidParametersException("No valid parameter");
+  }
+  auto params_result = parameter_node->set_parameters(iter->second);
+
+  return params_result;
+}
+
 }  // namespace rclcpp
 
-#endif  // RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
+#endif  // RCLCPP__PARAMETER_INTERFACES_HPP_

rclcpp/include/rclcpp/rclcpp.hpp

@@ -168,7 +168,7 @@
 #include <csignal>
 #include <memory>
 
-#include "rclcpp/copy_all_parameter_values.hpp"
+#include "rclcpp/parameter_interfaces.hpp"
 #include "rclcpp/executors.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/logging.hpp"

rclcpp/test/rclcpp/CMakeLists.txt

@@ -54,9 +54,9 @@ ament_add_gtest(test_client test_client.cpp)
 if(TARGET test_client)
   target_link_libraries(test_client ${PROJECT_NAME} mimick ${rcl_interfaces_TARGETS} ${test_msgs_TARGETS})
 endif()
-ament_add_gtest(test_copy_all_parameter_values test_copy_all_parameter_values.cpp)
-if(TARGET test_copy_all_parameter_values)
-  target_link_libraries(test_copy_all_parameter_values ${PROJECT_NAME})
+ament_add_gtest(test_parameter_interfaces test_parameter_interfaces.cpp)
+if(TARGET test_parameter_interfaces)
+  target_link_libraries(test_parameter_interfaces ${PROJECT_NAME})
 endif()
 ament_add_gtest(test_create_timer test_create_timer.cpp)
 if(TARGET test_create_timer)

rclcpp/test/rclcpp/test_copy_all_parameter_values.cpp → rclcpp/test/rclcpp/test_parameter_interfaces.cpp

@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
-#include "rclcpp/copy_all_parameter_values.hpp"
+#include "rclcpp/parameter_interfaces.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 class TestNode : public ::testing::Test
@@ -86,3 +86,22 @@ TEST_F(TestNode, TestParamCopyingExceptions)
   node2->declare_parameter("Foo1", rclcpp::ParameterValue(0.123));
   EXPECT_NO_THROW(rclcpp::copy_all_parameter_values(node1, node2, override));
 }
+
+TEST_F(TestNode, TestFileImport)
+{
+  using rclcpp::node_interfaces::NodeBaseInterface;
+  using rclcpp::node_interfaces::NodeParametersInterface;
+
+  const uint64_t expected_param_count = 4;
+  auto load_node = std::make_shared<rclcpp::Node>(
+    "load_node",
+    "namespace",
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+
+  // load parameters
+  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  const std::string parameters_filepath = (
+    test_resources_path / "test_node" / "load_parameters.yaml").string();
+  auto load_vector = rclcpp::load_parameters(parameters_filepath, *load_node);
+  ASSERT_EQ(load_vector.size(), expected_param_count);
+}