From d095f869c105aff20bba326fbc4d90f259ad299f Mon Sep 17 00:00:00 2001
From: YueErro <yue.trbj@gmail.com>
Date: Tue, 10 Oct 2023 11:17:21 +0200
Subject: [PATCH] fix: Create ParamListener and get params on configure
 IMUSensorBroadcaster

---
 .../src/imu_sensor_broadcaster.cpp               | 16 +++++++---------
 1 file changed, 7 insertions(+), 9 deletions(-)

diff --git a/imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp
index 04a28e5368..4a08349190 100644
--- 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