Remove nav2_util dependency

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

CHANGELOG.rst

@@ -1,6 +1,10 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package laser_segmentation
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+3.0.1 (12-06-2024)
+------------------
+* Remove nav2_util dependency.
 
 3.0.0 (08-03-2024)
 ------------------

CMakeLists.txt

@@ -50,11 +50,11 @@ endif()
 # # Find ament macros and libraries
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
-find_package(nav2_util REQUIRED)
 find_package(slg_msgs REQUIRED) # formerly simple_laser_geometry
 
 # ##########
@@ -75,11 +75,11 @@ set(source
 
 set(dependencies
   rclcpp
+  rclcpp_lifecycle
   rclcpp_components
   std_msgs
   sensor_msgs
   visualization_msgs
-  nav2_util
   slg_msgs
 )
 

include/laser_segmentation/parameter_handler.hpp

@@ -23,7 +23,6 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
-#include "nav2_util/node_utils.hpp"
 
 namespace laser_segmentation
 {
@@ -74,6 +73,27 @@ class ParameterHandler
   rcl_interfaces::msg::SetParametersResult
   dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
 
+/**
+ * @brief Declares static ROS2 parameter and sets it to a given value if it was not already declared.
+ *
+ * @param node A node in which given parameter to be declared
+ * @param param_name The name of parameter
+ * @param default_value Parameter value to initialize with
+ * @param parameter_descriptor Parameter descriptor (optional)
+*/
+  template<typename NodeT>
+  void declare_parameter_if_not_declared(
+    NodeT node,
+    const std::string & param_name,
+    const rclcpp::ParameterValue & default_value,
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
+    rcl_interfaces::msg::ParameterDescriptor())
+  {
+    if (!node->has_parameter(param_name)) {
+      node->declare_parameter(param_name, default_value, parameter_descriptor);
+    }
+  }
+
   // Dynamic parameters handler
   std::mutex mutex_;
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;

package.xml

@@ -2,19 +2,19 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>laser_segmentation</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Implementation of algorithms for segmentation of laserscans.</description>
   <maintainer email="ajtudela@gmail.com">Alberto Tudela</maintainer>
   <maintainer email="manolofc@gmail.com">Manuel Fernandez-Carmona</maintainer>
   <license>Apache-2.0</license>
   <author email="ajtudela@gmail.com">Alberto Tudela</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>visualization_msgs</depend>
-  <depend>nav2_util</depend>
   <depend>slg_msgs</depend>  <!-- formerly simple_laser_geometry -->
 
   <test_depend>ament_lint_auto</test_depend>

src/parameter_handler.cpp

@@ -24,12 +24,10 @@
 namespace laser_segmentation
 {
 
-using nav2_util::declare_parameter_if_not_declared;
 using rcl_interfaces::msg::ParameterType;
 
 ParameterHandler::ParameterHandler(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
-  const rclcpp::Logger & logger)
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node, const rclcpp::Logger & logger)
 {
   logger_ = logger;
 
@@ -146,13 +144,11 @@ ParameterHandler::ParameterHandler(
 
   node->get_parameter("min_points_segment", params_.min_points_segment);
   RCLCPP_INFO(
-    logger_, "The parameter min_points_segment is set to: [%d]",
-    params_.min_points_segment);
+    logger_, "The parameter min_points_segment is set to: [%d]", params_.min_points_segment);
 
   node->get_parameter("max_points_segment", params_.max_points_segment);
   RCLCPP_INFO(
-    logger_, "The parameter max_points_segment is set to: [%d]",
-    params_.max_points_segment);
+    logger_, "The parameter max_points_segment is set to: [%d]", params_.max_points_segment);
 
   node->get_parameter("min_avg_distance_from_sensor", params_.min_avg_distance_from_sensor);
   RCLCPP_INFO(
@@ -178,8 +174,7 @@ ParameterHandler::ParameterHandler(
 
   node->get_parameter("noise_reduction", params_.noise_reduction);
   RCLCPP_INFO(
-    logger_, "The parameter noise_reduction is set to: [%f]",
-    params_.noise_reduction);
+    logger_, "The parameter noise_reduction is set to: [%f]", params_.noise_reduction);
 
   node->get_parameter("method_threshold", params_.method_threshold);
   RCLCPP_INFO(
@@ -190,13 +185,11 @@ ParameterHandler::ParameterHandler(
 
   node->get_parameter("segments_topic", params_.seg_topic);
   RCLCPP_INFO(
-    logger_, "The parameter segment_topic is set to: [%s]",
-    params_.seg_topic.c_str());
+    logger_, "The parameter segment_topic is set to: [%s]", params_.seg_topic.c_str());
 
   node->get_parameter("segmentation_type", params_.segmentation_type);
   RCLCPP_INFO(
-    logger_, "The parameter segmentation_type is set to: [%s]",
-    params_.segmentation_type.c_str());
+    logger_, "The parameter segmentation_type is set to: [%s]", params_.segmentation_type.c_str());
 
   dyn_params_handler_ = node->add_on_set_parameters_callback(
     std::bind(&ParameterHandler::dynamicParametersCallback, this, std::placeholders::_1));

test/test_integration.cpp

@@ -34,10 +34,8 @@ TEST(LaserSegmentationTest, integration) {
   // Create and configure the laser_segmentation node
   auto seg_node = std::make_shared<laser_segmentation::LaserSegmentation>();
   // Set some parameters
-  nav2_util::declare_parameter_if_not_declared(
-    seg_node, "min_points_segment", rclcpp::ParameterValue(1));
-  nav2_util::declare_parameter_if_not_declared(
-    seg_node, "max_points_segment", rclcpp::ParameterValue(3));
+  seg_node->declare_parameter("min_points_segment", rclcpp::ParameterValue(1));
+  seg_node->declare_parameter("max_points_segment", rclcpp::ParameterValue(3));
   seg_node->configure();
   seg_node->activate();
 

test/test_laser_segmentation.cpp

@@ -53,8 +53,7 @@ TEST(LaserSegmentationTest, configure) {
   // Create the node
   auto node = std::make_shared<laserSegmentationFixture>();
   // Set the default segmentation type "jump_distance"
-  nav2_util::declare_parameter_if_not_declared(
-    node, "segmentation_type", rclcpp::ParameterValue("jump_distance"));
+  node->declare_parameter("segmentation_type", rclcpp::ParameterValue("jump_distance"));
   node->configure();
   node->activate();
   // Call an empty callback
@@ -211,22 +210,14 @@ TEST(LaserSegmentationTest, filterSegments) {
   // Create the node
   auto node = std::make_shared<laserSegmentationFixture>();
   // Set the parameters
-  nav2_util::declare_parameter_if_not_declared(
-    node, "min_points_segment", rclcpp::ParameterValue(1));
-  nav2_util::declare_parameter_if_not_declared(
-    node, "max_points_segment", rclcpp::ParameterValue(3));
-  nav2_util::declare_parameter_if_not_declared(
-    node, "min_avg_distance_from_sensor", rclcpp::ParameterValue(1.0));
-  nav2_util::declare_parameter_if_not_declared(
-    node, "max_avg_distance_from_sensor", rclcpp::ParameterValue(10.0));
-  nav2_util::declare_parameter_if_not_declared(
-    node, "min_segment_width", rclcpp::ParameterValue(0.1));
-  nav2_util::declare_parameter_if_not_declared(
-    node, "max_segment_width", rclcpp::ParameterValue(10.0));
-  nav2_util::declare_parameter_if_not_declared(
-    node, "distance_threshold", rclcpp::ParameterValue(0.1));
-  nav2_util::declare_parameter_if_not_declared(
-    node, "noise_reduction", rclcpp::ParameterValue(0.1));
+  node->declare_parameter("min_points_segment", rclcpp::ParameterValue(1));
+  node->declare_parameter("max_points_segment", rclcpp::ParameterValue(3));
+  node->declare_parameter("min_avg_distance_from_sensor", rclcpp::ParameterValue(1.0));
+  node->declare_parameter("max_avg_distance_from_sensor", rclcpp::ParameterValue(10.0));
+  node->declare_parameter("min_segment_width", rclcpp::ParameterValue(0.1));
+  node->declare_parameter("max_segment_width", rclcpp::ParameterValue(10.0));
+  node->declare_parameter("distance_threshold", rclcpp::ParameterValue(0.1));
+  node->declare_parameter("noise_reduction", rclcpp::ParameterValue(0.1));
   node->configure();
 
   // Set a segment list with 0 segments