Fujitatomoya/test append parameter override (#2896)

fujitatomoya · web-flow · commit 84c6fb1cfc94 · 2025-07-09T14:04:24.000-07:00
* add parameter_overrides_with_parameter test.

Signed-off-by: Tomoya Fujita &lt;Tomoya.Fujita@sony.com&gt;

* no need to template the function signature of append_parameter_override().

Signed-off-by: Tomoya Fujita &lt;Tomoya.Fujita@sony.com&gt;

---------

Signed-off-by: Tomoya Fujita &lt;Tomoya.Fujita@sony.com&gt;
diff --git a/rclcpp/include/rclcpp/node_options.hpp b/rclcpp/include/rclcpp/node_options.hpp
@@ -147,7 +147,6 @@ class NodeOptions
   }
 
   /// Append a single parameter override, parameter idiom style.
-  template<typename ParameterT>
   NodeOptions &
   append_parameter_override(const rclcpp::Parameter & param)
   {
diff --git a/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp b/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp
@@ -128,7 +128,7 @@ TEST_F(TestNodeParameters, list_parameters)
     list_result5.names.end());
 }
 
-TEST_F(TestNodeParameters, parameter_overrides)
+TEST_F(TestNodeParameters, parameter_overrides_with_value)
 {
   rclcpp::NodeOptions node_options;
   node_options.automatically_declare_parameters_from_overrides(true);
@@ -146,6 +146,24 @@ TEST_F(TestNodeParameters, parameter_overrides)
   EXPECT_EQ(2u, parameter_overrides.size());
 }
 
+TEST_F(TestNodeParameters, parameter_overrides_with_parameter)
+{
+  rclcpp::NodeOptions node_options;
+  node_options.automatically_declare_parameters_from_overrides(true);
+  node_options.append_parameter_override(rclcpp::Parameter("param1", true));
+  node_options.append_parameter_override(rclcpp::Parameter("param2", 42));
+
+  std::shared_ptr<rclcpp::Node> node2 = std::make_shared<rclcpp::Node>("node2", "ns", node_options);
+
+  auto * node_parameters_interface =
+    dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+    node2->get_node_parameters_interface().get());
+  ASSERT_NE(nullptr, node_parameters_interface);
+
+  const auto & parameter_overrides = node_parameters_interface->get_parameter_overrides();
+  EXPECT_EQ(2u, parameter_overrides.size());
+}
+
 TEST_F(TestNodeParameters, set_parameters) {
   rclcpp::NodeOptions node_options;
   node_options.allow_undeclared_parameters(true);
diff --git a/rclcpp/test/rclcpp/test_node_options.cpp b/rclcpp/test/rclcpp/test_node_options.cpp
@@ -258,8 +258,10 @@ TEST(TestNodeOptions, append_parameter_override) {
   auto options = rclcpp::NodeOptions().arguments(expected_args).use_global_arguments(false);
   rclcpp::Parameter parameter("some_parameter", 10);
   options.append_parameter_override("some_parameter", 10);
-  EXPECT_EQ(1u, options.parameter_overrides().size());
+  options.append_parameter_override(parameter);
+  EXPECT_EQ(2u, options.parameter_overrides().size());
   EXPECT_EQ(std::string("some_parameter"), options.parameter_overrides()[0].get_name());
+  EXPECT_EQ(std::string("some_parameter"), options.parameter_overrides()[1].get_name());
 }
 
 TEST(TestNodeOptions, rcl_node_options_fini_error) {

Original file line number	Diff line number	Diff line change
`@@ -147,7 +147,6 @@ class NodeOptions`
`147`	`147`	`}`
`148`	`148`
`149`	`149`	`/// Append a single parameter override, parameter idiom style.`
`150`		`- template<typename ParameterT>`
`151`	`150`	`NodeOptions &`
`152`	`151`	`append_parameter_override(const rclcpp::Parameter & param)`
`153`	`152`	`{`