Program Listing for File copy_all_parameter_values.hpp
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// Copyright 2023 Open Navigation LLC
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// 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_
#include <string>
#include <vector>
#include "rcl_interfaces/srv/list_parameters.hpp"
#include "rcl_interfaces/msg/parameter_descriptor.hpp"
#include "rcl_interfaces/msg/set_parameters_result.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/logging.hpp"
namespace rclcpp
{
template<typename NodeT1, typename NodeT2>
void
copy_all_parameter_values(
const NodeT1 & source, const NodeT2 & destination, const bool override_existing_params = false)
{
using Parameters = std::vector<rclcpp::Parameter>;
using Descriptions = std::vector<rcl_interfaces::msg::ParameterDescriptor>;
auto source_params = source->get_node_parameters_interface();
auto dest_params = destination->get_node_parameters_interface();
rclcpp::Logger logger = destination->get_node_logging_interface()->get_logger();
std::vector<std::string> param_names = source_params->list_parameters({}, 0).names;
Parameters params = source_params->get_parameters(param_names);
Descriptions descriptions = source_params->describe_parameters(param_names);
for (unsigned int idx = 0; idx != params.size(); idx++) {
if (!dest_params->has_parameter(params[idx].get_name())) {
dest_params->declare_parameter(
params[idx].get_name(), params[idx].get_parameter_value(), descriptions[idx]);
} else if (override_existing_params) {
try {
rcl_interfaces::msg::SetParametersResult result =
dest_params->set_parameters_atomically({params[idx]});
if (!result.successful) {
// Parameter update rejected or read-only
RCLCPP_WARN(
logger,
"Unable to set parameter (%s): %s!",
params[idx].get_name().c_str(), result.reason.c_str());
}
} catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
RCLCPP_WARN(
logger,
"Unable to set parameter (%s): incompatable parameter type (%s)!",
params[idx].get_name().c_str(), e.what());
}
}
}
}
} // namespace rclcpp
#endif // RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_