[humble] Get user specified parameters at startup #45
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CI will fail until this gets merged: ros-perception/point_cloud_transport#79 |
| quantization_POSITION_paramDescriptor.name, config_.quantization_NORMAL, | ||
| quantization_POSITION_paramDescriptor.name, config_.quantization_POSITION, |
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spotted some typos as well, so fixing those in this pass
| @@ -85,6 +85,7 @@ void DracoPublisher::declareParameters(const std::string & base_topic) | |||
| declareParam<int>( | |||
| encode_speed_paramDescriptor.name, config_.encode_speed, | |||
| encode_speed_paramDescriptor); | |||
| getParam<int>(encode_speed_paramDescriptor.name, config_.encode_speed); | |||
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primary change is to add these so that if a user has configured parameter values at startup, we get them
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appears to be working properly now. I first tested this by just logging to verify that the parameters were getting set at startup now. I also played back this rosbag with force_quantization on and off (set via average size of raw messages force_quantization off force_quantization on |
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Same comment here ros-perception/point_cloud_transport#79 (review)
john-maidbot
changed the title
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Same here: #46 |
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closing this one in favour of this other one #50 |
Currently, no plugins that
declareparametersgetthe values at startup. This means that even if a user were to specify a parameter via ros2 launch or ros2 run, it would not get loaded. The only way to load a non-default parameter atm is to dynamically configure it after startup.This PR fixes this by
getting the parameter values at startup. For users who are currently using the default values, this PR does nothing. For users who want to be able to specify the parameters at startup, this will allow them to do that.Relates to this issue: ros-perception/point_cloud_transport#66