feat(duplicated_node_checker): add duplicate nodes to ignore (autowar…

…efoundation#7959) * feat: add duplicate nodes to ignore Signed-off-by: Dmitrii Koldaev <[email protected]> * remove talker Signed-off-by: Dmitrii Koldaev <[email protected]> * newline Signed-off-by: Dmitrii Koldaev <[email protected]> * commments Signed-off-by: Dmitrii Koldaev <[email protected]> * pre-commit and sign Signed-off-by: Dmitrii Koldaev <[email protected]> * rviz->rviz2 Signed-off-by: Dmitrii Koldaev <[email protected]> --------- Signed-off-by: Dmitrii Koldaev <[email protected]> Co-authored-by: Dmitrii Koldaev <[email protected]>
vividf · Jul 11, 2024 · 82aea7b · 82aea7b
1 parent 53bd126
commit 82aea7b
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diff --git a/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml b/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml
@@ -2,3 +2,5 @@
   ros__parameters:
     update_rate: 10.0
     add_duplicated_node_names_to_msg: true # if true, duplicated node names are added to msg
+    nodes_to_ignore:  # List of nodes to ignore when checking for duplicates
+      - /rviz2
diff --git a/.../duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp b/.../duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp
@@ -33,6 +33,9 @@ class DuplicatedNodeChecker : public rclcpp::Node
     std::unordered_set<std::string> unique_names;
     std::vector<std::string> identical_names;
     for (auto name : input_name_lists) {
+      if (nodes_to_ignore_.count(name) != 0) {
+        continue;
+      }
       if (unique_names.find(name) != unique_names.end()) {
         identical_names.push_back(name);
       } else {
@@ -49,6 +52,7 @@ class DuplicatedNodeChecker : public rclcpp::Node
   diagnostic_updater::Updater updater_{this};
   rclcpp::TimerBase::SharedPtr timer_;
   bool add_duplicated_node_names_to_msg_;
+  std::unordered_set<std::string> nodes_to_ignore_;
 };
 }  // namespace duplicated_node_checker
 

diff --git a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
@@ -29,6 +29,11 @@ DuplicatedNodeChecker::DuplicatedNodeChecker(const rclcpp::NodeOptions & node_op
 {
   double update_rate = declare_parameter<double>("update_rate");
   add_duplicated_node_names_to_msg_ = declare_parameter<bool>("add_duplicated_node_names_to_msg");
+
+  std::vector<std::string> nodes_to_ignore_vector =
+    declare_parameter<std::vector<std::string>>("nodes_to_ignore");
+  nodes_to_ignore_.insert(nodes_to_ignore_vector.begin(), nodes_to_ignore_vector.end());
+
   updater_.setHardwareID("duplicated_node_checker");
   updater_.add("duplicated_node_checker", this, &DuplicatedNodeChecker::produceDiagnostics);