Make the order of parameters deterministic#94
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m-dahl merged 2 commits intosequenceplanner:masterfrom Apr 29, 2024
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GUI tools for working with parameters (at least Foxglove Studio, rqt and rig_reconfigure) show the parameters in the same order as returned by the ListParameters service. r2r stores the parameters in a HashMap, which iterates keys and values in arbitrary order. The result is that the GUI tools show the parameters in different order after every node invocation, which can be quite annoying. To make the order deterministic, we change the parameter storage from HashMap to IndexMap, which iterates the map in insertion order. According to the indexmap documentation, IndexMap is a drop-in replacement of HashMap so this change should not require code changes in applications using r2r. At least r2r examples and my projects needed no changes.
The previous commit made the order of parameters deterministic (defined by so called insertion order), but the order still depends on whether or not some parameters were set from the command line. Command line parameters are inserted to the IndexMap at Node creation time, while other RosParams-derived parameters later, during the call to make_derived_parameter_handler(). This commit ensures that parameters processed by make_derived_parameter_handler() are always inserted in the same order, even if some of them were already inserted before due to CLI arguments.
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Makes sense and looks good, merging. Thanks! |
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GUI tools for working with parameters (at least Foxglove Studio, rqt and rig_reconfigure) show the parameters in the same order as returned by the ListParameters service. r2r stores the parameters in a HashMap, which iterates keys and values in arbitrary order. The result is that the GUI tools show the parameters in different order after every node invocation, which can be quite annoying.
To make the order deterministic, we change the parameter storage from HashMap to IndexMap, which iterates the map in insertion order. According to the indexmap documentation, IndexMap is a drop-in replacement of HashMap so this change should not require code changes in applications using r2r. At least r2r examples and my projects needed no changes.