fix: Create ParamListener and get params on configure IMUSensorBroadc…

…aster
ros-controls · Oct 10, 2023 · d095f86 · d095f86
1 parent f62fc3a
commit d095f86
Showing 1 changed file with 7 additions and 9 deletions.
diff --git a/imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp
@@ -24,6 +24,12 @@
 namespace imu_sensor_broadcaster
 {
 controller_interface::CallbackReturn IMUSensorBroadcaster::on_init()
+{
+  return CallbackReturn::SUCCESS;
+}
+
+controller_interface::CallbackReturn IMUSensorBroadcaster::on_configure(
+  const rclcpp_lifecycle::State & /*previous_state*/)
 {
   try
   {
@@ -33,18 +39,10 @@ controller_interface::CallbackReturn IMUSensorBroadcaster::on_init()
   catch (const std::exception & e)
   {
     RCLCPP_ERROR(
-      get_node()->get_logger(), "Exception thrown during init stage with message: %s \n", e.what());
+      get_node()->get_logger(), "Exception thrown during configure stage with message: %s \n", e.what());
     return CallbackReturn::ERROR;
   }
 
-  return CallbackReturn::SUCCESS;
-}
-
-controller_interface::CallbackReturn IMUSensorBroadcaster::on_configure(
-  const rclcpp_lifecycle::State & /*previous_state*/)
-{
-  params_ = param_listener_->get_params();
-
   imu_sensor_ = std::make_unique<semantic_components::IMUSensor>(
     semantic_components::IMUSensor(params_.sensor_name));
   try