fix rebase compile issues

Signed-off-by: Brian Wilcox <[email protected]>

Author: bpwilcox

rclcpp/src/rclcpp/detail/resolve_parameter_overrides.cpp

@@ -23,14 +23,14 @@
 #include "rclcpp/scope_exit.hpp"
 #include "rclcpp/parameter_map.hpp"
 
-std::map<std::string, rclcpp::ParameterInfo>
+std::map<std::string, rclcpp::node_interfaces::ParameterInfo>
 rclcpp::detail::resolve_parameter_overrides(
   const std::string & node_fqn,
   const std::vector<rclcpp::Parameter> & parameter_overrides,
   const rcl_arguments_t * local_args,
   const rcl_arguments_t * global_args)
 {
-  std::map<std::string, rclcpp::ParameterValue> result;
+  std::map<std::string, rclcpp::node_interfaces::ParameterInfo> result;
 
   // global before local so that local overwrites global
   std::array<const rcl_arguments_t *, 2> argument_sources = {global_args, local_args};

rclcpp/src/rclcpp/detail/resolve_parameter_overrides.hpp

@@ -21,6 +21,7 @@
 
 #include "rcl/arguments.h"
 
+#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/parameter_value.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -31,7 +32,7 @@ namespace detail
 {
 /// \internal Get the parameter overrides from the arguments.
 RCLCPP_LOCAL
-std::map<std::string, rclcpp::ParameterInfo>
+std::map<std::string, rclcpp::node_interfaces::ParameterInfo>
 resolve_parameter_overrides(
   const std::string & node_name,
   const std::vector<rclcpp::Parameter> & parameter_overrides,

rclcpp/src/rclcpp/node.cpp

@@ -133,7 +133,7 @@ get_parameter_events_qos(
     auto param_name = prefix + rclcpp::qos_policy_kind_to_cstr(policy);
     auto it = parameter_overrides.find(param_name);
     auto value = it != parameter_overrides.end() ?
-      it->second :
+      it->second.value :
       rclcpp::detail::get_default_qos_param_value(policy, options.parameter_event_qos());
     rclcpp::detail::apply_qos_override(policy, value, final_qos);
   }

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -96,38 +96,8 @@ NodeParameters::NodeParameters(
   }
   combined_name_ = node_base->get_fully_qualified_name();
 
-  for (const rcl_arguments_t * source : argument_sources) {
-    rcl_params_t * params = NULL;
-    rcl_ret_t ret = rcl_arguments_get_param_overrides(source, &params);
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret);
-    }
-    if (params) {
-      auto cleanup_params = make_scope_exit(
-        [params]() {
-          rcl_yaml_node_struct_fini(params);
-        });
-      rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(params);
-      for (auto iter = initial_map.begin(); initial_map.end() != iter; iter++) {
-        // TODO(cottsay) implement further wildcard matching
-        if (iter->first == "/**" || iter->first == combined_name_) {
-          // Combine parameter yaml files, overwriting values in older ones
-          for (auto & param : iter->second) {
-            rclcpp::node_interfaces::ParameterInfo param_info;
-            param_info.value = rclcpp::ParameterValue((param.second.first).get_value_message());
-            param_info.descriptor = param.second.second;
-            parameter_overrides_[(param.second.first).get_name()] = param_info;
-          }
-        }
-      }
-    }
-  }
-
-  // parameter overrides passed to constructor will overwrite overrides from yaml file sources
-  for (auto & param : parameter_overrides) {
-    parameter_overrides_[param.get_name()].value =
-      rclcpp::ParameterValue(param.get_value_message());
-  }
+  parameter_overrides_ = rclcpp::detail::resolve_parameter_overrides(
+    combined_name_, parameter_overrides, &options->arguments, global_args);
 
   // If asked, initialize any parameters that ended up in the initial parameter values,
   // but did not get declared explcitily by this point.
@@ -448,7 +418,7 @@ declare_parameter_helper(
   rcl_interfaces::msg::ParameterDescriptor parameter_descriptor,
   bool ignore_override,
   std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters,
-  const std::map<std::string, rclcpp::ParameterValue> & overrides,
+  const std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & overrides,
   CallbacksContainerType & callback_container,
   const OnParametersSetCallbackType & callback,
   rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent> * events_publisher,

rclcpp/src/rclcpp/parameter_client.cpp

@@ -308,7 +308,7 @@ AsyncParametersClient::load_parameters(
       (node_name == remote_name))
     {
       for (const auto & param : params.second) {
-        parameters.push_back(param);
+        parameters.push_back(param.second.first);
       }
     }
   }