[ForceTorqueSensorBroadcaster] Create ParamListener and get parameter…

…s on configure (backport #698) (#750) * [ForceTorqueSensorBroadcaster] Create ParamListener and get parameters on configure (#698) * Create ParamListener and get parameters on configure * Declare parameters for test_force_torque_sensor_broadcaster Since the parameters are not declared on init anymore, they cannot be set without declaring them before --------- Co-authored-by: Bence Magyar <[email protected]> (cherry picked from commit 32aaef7) * Fix "parameter is already declared" error --------- Co-authored-by: Noel Jiménez García <[email protected]> Co-authored-by: Christoph Froehlich <[email protected]>
ros-controls · Dec 5, 2023 · 2916b79 · 2916b79
1 parent 13ba381
commit 2916b79
Showing 1 changed file with 7 additions and 9 deletions.
diff --git a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp
@@ -29,6 +29,12 @@ ForceTorqueSensorBroadcaster::ForceTorqueSensorBroadcaster()
 }
 
 controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_init()
+{
+  return controller_interface::CallbackReturn::SUCCESS;
+}
+
+controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
+  const rclcpp_lifecycle::State & /*previous_state*/)
 {
   try
   {
@@ -37,18 +43,10 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_init()
   }
   catch (const std::exception & e)
   {
-    fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
+    fprintf(stderr, "Exception thrown during configure stage with message: %s \n", e.what());
     return controller_interface::CallbackReturn::ERROR;
   }
 
-  return controller_interface::CallbackReturn::SUCCESS;
-}
-
-controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
-  const rclcpp_lifecycle::State & /*previous_state*/)
-{
-  params_ = param_listener_->get_params();
-
   const bool no_interface_names_defined =
     params_.interface_names.force.x.empty() && params_.interface_names.force.y.empty() &&
     params_.interface_names.force.z.empty() && params_.interface_names.torque.x.empty() &&