Error_code parameters were not set warning message #3626
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 22.04
- ROS2 Version:
- Rolling
- DDS implementation:
- CycloneDDS
Steps to reproduce issue
Simply run the getting started's bringup code:
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False
Expected behavior
There should be no warning message.
Actual behavior
BtActionServer logs the following warning message, even when the error_code_names parameter is set.
Error_code parameters were not set. Using default values of: follow_path_error_code
[component_container_isolated-6] compute_path_error_code
[component_container_isolated-6] Make sure these match your BT and there are not other sources of error codes you want reported to your application
Additional information
In nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp the warning logging happens because the parameter is not declared.
if (!node->has_parameter("error_code_names")) {
std::string error_codes_str;
for (const auto & error_code : error_code_names) {
error_codes_str += error_code + "\n";
}
RCLCPP_WARN_STREAM(
logger_, "Error_code parameters were not set. Using default values of: "
<< error_codes_str
<< "Make sure these match your BT and there are not other sources of error codes you want "
"reported to your application");
node->declare_parameter("error_code_names", error_code_names);
}
A workaround could be to declare the variable without default value first and check if it is set:
if (!node->has_parameter("error_code_names")) {
const rclcpp::ParameterValue value = node->declare_parameter(
"error_code_names",
rclcpp::PARAMETER_STRING_ARRAY);
if (value.get_type() == rclcpp::PARAMETER_NOT_SET) {
node->set_parameter(rclcpp::Parameter("error_code_names", error_code_names));
std::string error_codes_str;
for (const auto & error_code : error_code_names) {
error_codes_str += error_code + "\n";
}
RCLCPP_WARN_STREAM(
logger_, "Error_code parameters were not set. Using default values of: "
<< error_codes_str
<< "Make sure these match your BT and there are not other sources of error codes you want "
"reported to your application");
}
}