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Use the new declare_or_get_parameter API for nav2_waypoint_follower #5742

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Use the new declare_or_get_parameter API for nav2_waypoint_follower #5742

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dd7736a
Fix waypoint follower logic
csy100886 Nov 28, 2025
1a79cc1
refactor: remove duplicate parameter initialization in waypoint_follower
csy100886 Nov 30, 2025
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Fix waypoint follower logic 
Signed-off-by: csy100886 <csy100886@gmail.com>
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@csy100886
csy100886 committed Nov 28, 2025
commit dd7736a87bca943229647afabf2c3f48c44cb9b9
34 changes: 19 additions & 15 deletions nav2_waypoint_follower/src/waypoint_follower.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,17 +34,18 @@ WaypointFollower::WaypointFollower(const rclcpp::NodeOptions & options)
{
RCLCPP_INFO(get_logger(), "Creating");

declare_parameter("stop_on_failure", true);
declare_parameter("loop_rate", 20);

declare_parameter("global_frame_id", "map");

nav2::declare_parameter_if_not_declared(
this, std::string("waypoint_task_executor_plugin"),
rclcpp::ParameterValue(std::string("wait_at_waypoint")));
nav2::declare_parameter_if_not_declared(
this, std::string("wait_at_waypoint.plugin"),
rclcpp::ParameterValue(std::string("nav2_waypoint_follower::WaitAtWaypoint")));
// Use declare_or_get_parameter for all parameters
stop_on_failure_ = nav2::declare_or_get_parameter(this, "stop_on_failure", true);
loop_rate_ = nav2::declare_or_get_parameter(this, "loop_rate", 20);
global_frame_id_ = nav2::declare_or_get_parameter(
this, "global_frame_id", std::string("map"));
waypoint_task_executor_id_ = nav2::declare_or_get_parameter(
this, "waypoint_task_executor_plugin", std::string("wait_at_waypoint"));

// Plugin type parameter
nav2::declare_or_get_parameter(
this, "wait_at_waypoint.plugin",
std::string("nav2_waypoint_follower::WaitAtWaypoint"));
}

WaypointFollower::~WaypointFollower()
Expand All @@ -58,10 +59,13 @@ WaypointFollower::on_configure(const rclcpp_lifecycle::State & state)

auto node = shared_from_this();

stop_on_failure_ = get_parameter("stop_on_failure").as_bool();
loop_rate_ = get_parameter("loop_rate").as_int();
waypoint_task_executor_id_ = get_parameter("waypoint_task_executor_plugin").as_string();
global_frame_id_ = get_parameter("global_frame_id").as_string();
// Parameters already declared in constructor, just get them
stop_on_failure_ = nav2::declare_or_get_parameter(node, "stop_on_failure", true);
loop_rate_ = nav2::declare_or_get_parameter(node, "loop_rate", 20);
waypoint_task_executor_id_ = nav2::declare_or_get_parameter(
node, "waypoint_task_executor_plugin", std::string("wait_at_waypoint"));
global_frame_id_ = nav2::declare_or_get_parameter(
node, "global_frame_id", std::string("map"));

callback_group_ = create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive,
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