fix: set parameters optionally

autowarefoundation · May 8, 2024 · fadf553 · fadf553
1 parent e9464be
commit fadf553
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Showing 2 changed files with 54 additions and 33 deletions.
diff --git a/perception/multi_object_tracker/config/input_channels.param.yaml b/perception/multi_object_tracker/config/input_channels.param.yaml
@@ -3,67 +3,79 @@
     input_channels:
       detected_objects:
         topic: "/perception/object_recognition/detection/objects"
-        name: "detected_objects"
-        name_short: "all"
         expected_frequency: 10.0
+        optional:
+          name: "detected_objects"
+          short_name: "all"
       # LIDAR - rule-based
       lidar_clustering:
         topic: "/perception/object_recognition/detection/clustering/objects"
-        name: "clustering"
-        name_short: "Lcl"
         expected_frequency: 10.0
+        optional:
+          name: "clustering"
+          short_name: "Lcl"
       # LIDAR - DNN
       lidar_centerpoint:
         topic: "/perception/object_recognition/detection/centerpoint/objects"
-        name: "centerpoint"
-        name_short: "Lcp"
         expected_frequency: 10.0
+        optional:
+          name: "centerpoint"
+          short_name: "Lcp"
       lidar_centerpoint_validated:
         topic: "/perception/object_recognition/detection/centerpoint/validation/objects"
-        name: "centerpoint"
-        name_short: "Lcp"
         expected_frequency: 10.0
+        optional:
+          name: "centerpoint"
+          short_name: "Lcp"
       lidar_apollo:
         topic: "/perception/object_recognition/detection/apollo/objects"
-        name: "apollo"
-        name_short: "Lap"
         expected_frequency: 10.0
+        optional:
+          name: "apollo"
+          short_name: "Lap"
       lidar_apollo_validated:
         topic: "/perception/object_recognition/detection/apollo/validation/objects"
-        name: "apollo"
-        name_short: "Lap"
         expected_frequency: 10.0
+        optional:
+          name: "apollo"
+          short_name: "Lap"
       # LIDAR-CAMERA - DNN
       lidar_pointpainitng:
         topic: "/perception/object_recognition/detection/pointpainting/objects"
-        name: "pointpainting"
-        name_short: "Lpp"
         expected_frequency: 10.0
+        optional:
+          name: "pointpainting"
+          short_name: "Lpp"
       lidar_pointpainting_validated:
         topic: "/perception/object_recognition/detection/pointpainting/validation/objects"
-        name: "pointpainting"
-        name_short: "Lpp"
         expected_frequency: 10.0
+        optional:
+          name: "pointpainting"
+          short_name: "Lpp"
       # CAMERA-LIDAR
       camera_lidar_fusion:
         topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects"
-        name: "camera_lidar_fusion"
-        name_short: "CLf"
         expected_frequency: 10.0
+        optional:
+          name: "camera_lidar_fusion"
+          short_name: "CLf"
       # CAMERA-LIDAR+TRACKER
       detection_by_tracker:
         topic: "/perception/object_recognition/detection/detection_by_tracker/objects"
-        name: "detection_by_tracker"
-        name_short: "dbT"
         expected_frequency: 10.0
+        optional:
+          name: "detection_by_tracker"
+          short_name: "dbT"
       # RADAR
       radar:
         topic: "/sensing/radar/detected_objects"
-        name: "radar"
-        name_short: "R"
         expected_frequency: 30.0
+        optional:
+          name: "radar"
+          short_name: "R"
       radar_far:
         topic: "/perception/object_recognition/detection/radar/far_objects"
-        name: "radar_far"
-        name_short: "Rf"
         expected_frequency: 30.0
+        optional:
+          name: "radar_far"
+          short_name: "Rf"
diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -100,18 +100,27 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
   }
 
   for (const auto & selected_input_channel : selected_input_channels) {
+    // required parameters, no default value
     const std::string input_topic_name =
       declare_parameter<std::string>("input_channels." + selected_input_channel + ".topic");
-    const std::string input_name_long =
-      declare_parameter<std::string>("input_channels." + selected_input_channel + ".name");
-    const std::string input_name_short =
-      declare_parameter<std::string>("input_channels." + selected_input_channel + ".name_short");
-    const double input_expected_frequency =
-      declare_parameter<double>("input_channels." + selected_input_channel + ".expected_frequency");
     input_topic_names.push_back(input_topic_name);
-    input_names_long.push_back(input_name_long);
-    input_names_short.push_back(input_name_short);
-    input_expected_rates.push_back(input_expected_frequency);
+
+    // required parameter, but can set a default value
+    const double default_expected_rate = 10.0;
+    const double expected_rate = declare_parameter<double>(
+      "input_channels." + selected_input_channel + ".expected_rate", default_expected_rate);
+    input_expected_rates.push_back(expected_rate);
+
+    // optional parameters
+    const std::string default_name = selected_input_channel;
+    const std::string name_long = declare_parameter<std::string>(
+      "input_channels." + selected_input_channel + ".optional.name", default_name);
+    input_names_long.push_back(name_long);
+
+    const std::string default_name_short = selected_input_channel.substr(0, 3);
+    const std::string name_short = declare_parameter<std::string>(
+      "input_channels." + selected_input_channel + ".optional.short_name", default_name_short);
+    input_names_short.push_back(name_short);
   }
 
   input_channel_size_ = input_topic_names.size();