#2202 Move default mapping values to class

The default motion model mapping values were specified in the ROS parameter declarations, but this meant the MotionModelMapper instance never got them. Its values wouldn't be updated unless a user changed them. Now, the default values are stored in the class instance, and the ROS parameter declarations get their default values from the instance.
usdot-fhwa-stol · Nov 30, 2023 · 8077443 · 8077443
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commit 8077443
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diff --git a/carma_cooperative_perception/include/carma_cooperative_perception/msg_conversion.hpp b/carma_cooperative_perception/include/carma_cooperative_perception/msg_conversion.hpp
@@ -72,11 +72,11 @@ auto to_detection_list_msg(const carma_v2x_msgs::msg::SensorDataSharingMessage &
 
 struct MotionModelMapping
 {
-  std::uint8_t small_vehicle_model;
-  std::uint8_t large_vehicle_model;
-  std::uint8_t motorcycle_model;
-  std::uint8_t pedestrian_model;
-  std::uint8_t unknown_model;
+  std::uint8_t small_vehicle_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV};
+  std::uint8_t large_vehicle_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV};
+  std::uint8_t motorcycle_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRA};
+  std::uint8_t pedestrian_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CV};
+  std::uint8_t unknown_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CV};
 };
 
 auto to_detection_msg(

diff --git a/carma_cooperative_perception/src/external_object_list_to_detection_list_component.cpp b/carma_cooperative_perception/src/external_object_list_to_detection_list_component.cpp
@@ -114,25 +114,11 @@ auto ExternalObjectListToDetectionListNode::handle_on_configure(
       }
     });
 
-  declare_parameter(
-    "small_vehicle_motion_model",
-    carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV);
-
-  declare_parameter(
-    "large_vehicle_motion_model",
-    carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV);
-
-  declare_parameter(
-    "motorcycle_motion_model",
-    carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRA);
-
-  declare_parameter(
-    "pedestrian_motion_model",
-    carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CV);
-
-  declare_parameter(
-    "unknown_motion_model",
-    carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CV);
+  declare_parameter("small_vehicle_motion_model", motion_model_mapping_.small_vehicle_model);
+  declare_parameter("large_vehicle_motion_model", motion_model_mapping_.large_vehicle_model);
+  declare_parameter("motorcycle_motion_model", motion_model_mapping_.motorcycle_model);
+  declare_parameter("pedestrian_motion_model", motion_model_mapping_.pedestrian_model);
+  declare_parameter("unknown_motion_model", motion_model_mapping_.unknown_model);
 
   on_set_parameters_callback_ =
     add_on_set_parameters_callback([this](const std::vector<rclcpp::Parameter> & parameters) {