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[humble] Get user specified parameters at startup #79

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[humble] Get user specified parameters at startup #79

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f21b98e
Implement getParam for simple subscriber plugin
john-maidbot May 11, 2024
5e8a7e6
Fix for getParam name resolution
john-maidbot May 11, 2024
424a028
more descriptive variable name in getParam
john-maidbot May 11, 2024
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10 changes: 8 additions & 2 deletions point_cloud_transport/include/point_cloud_transport/simple_publisher_plugin.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,10 +91,16 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin

//! template function for getting parameter of a given type
template<typename T>
bool getParam(const std::string & name, T & value) const
bool getParam(const std::string & parameter_name, T & value) const
{
if (simple_impl_) {
return simple_impl_->node_->get_parameter(name, value);
uint ns_len = simple_impl_->node_->get_effective_namespace().length();
std::string param_base_name = getTopic().substr(ns_len);
std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');

std::string param_name = param_base_name + "." + parameter_name;

return simple_impl_->node_->get_parameter(param_name, value);
}
return false;
}
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16 changes: 16 additions & 0 deletions point_cloud_transport/include/point_cloud_transport/simple_subscriber_plugin.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,22 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
return {};
}

//! template function for getting parameter of a given type
template<typename T>
bool getParam(const std::string & parameter_name, T & value) const
{
if (impl_) {
uint ns_len = impl_->node_->get_effective_namespace().length();
std::string param_base_name = getTopic().substr(ns_len);
std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');

std::string param_name = param_base_name + "." + parameter_name;

return impl_->node_->get_parameter(param_name, value);
}
return false;
}

template<typename T>
bool declareParam(
const std::string parameter_name, const T value,
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