From 3da38e76a659ae56ba859190ae4d9f09f91ceaa2 Mon Sep 17 00:00:00 2001
From: Jonas Otto <jonas@jonasotto.com>
Date: Fri, 2 Feb 2024 13:29:44 +0100
Subject: [PATCH] add start_type_description_service default parameter

---
 src/service_wrapper.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/service_wrapper.cpp b/src/service_wrapper.cpp
index acb8ecb..fa2b49b 100644
--- a/src/service_wrapper.cpp
+++ b/src/service_wrapper.cpp
@@ -8,6 +8,7 @@
 
 #include "service_wrapper.hpp"
 #include <chrono>
+#include <regex>
 
 using namespace std::chrono_literals;
 
@@ -230,9 +231,11 @@ void ServiceWrapper::nodeParametersReceived(const rclcpp::Client<rcl_interfaces:
     auto valueRequest = std::make_shared<ParameterValueRequest>(future.get()->result.names);
 
     if (ignoreDefaultParameters) {
-        // ignore node used for querying the services
+        // Hide default parameters "use_sim_time", "qos_overrides./*", "start_type_description_service"
+        static std::regex HIDDEN_PARAMETER_REGEX = std::regex(
+                "^use_sim_time$|^qos_overrides\\.\\/.*$|^start_type_description_service$");
         std::erase_if(valueRequest->parameterNames, [](const std::string &s) {
-            return (s.starts_with("qos_overrides./") || s.starts_with("use_sim_time"));
+            return std::regex_match(s, HIDDEN_PARAMETER_REGEX);
         });
     }