minor updates to parameter loading

tiiuae · Sep 9, 2024 · 0b34026 · 0b34026
1 parent 9e531b3
commit 0b34026
Showing 1 changed file with 14 additions and 18 deletions.
diff --git a/include/fog_lib/params.h b/include/fog_lib/params.h
@@ -25,6 +25,11 @@ namespace fog_lib
       RCLCPP_ERROR_STREAM(node.get_logger(), "Could not load param '" << param_name << "': " << e.what());
       return false;
     }
+    catch (const rclcpp::exceptions::UninitializedStaticallyTypedParameterException& e)
+    {
+      RCLCPP_ERROR_STREAM(node.get_logger(), "Could not load param '" << param_name << "': " << e.what());
+      return false;
+    }
     return true;
   }
 
@@ -48,30 +53,21 @@ namespace fog_lib
       RCLCPP_ERROR_STREAM(node.get_logger(), "Could not load param '" << param_name << "': " << e.what());
       return false;
     }
+    catch (const rclcpp::exceptions::UninitializedStaticallyTypedParameterException& e)
+    {
+      RCLCPP_ERROR_STREAM(node.get_logger(), "Could not load param '" << param_name << "': " << e.what());
+      return false;
+    }
     return true;
   }
 
   bool parse_param(const std::string& param_name, rclcpp::Duration& param_dest, rclcpp::Node& node)
   {
-    try
-    {
-      using T = double;
-#ifdef ROS_FOXY
-      node.declare_parameter(param_name); // for Foxy
-#else
-      node.declare_parameter<T>(param_name); // for Galactic and newer
-#endif
-      T tmp;
-      node.get_parameter(param_name, tmp);
+    double tmp;
+    const bool ok_out = parse_param<double>(param_name, tmp, node);
+    if (ok_out)
       param_dest = rclcpp::Duration::from_seconds(tmp);
-      RCLCPP_INFO_STREAM(node.get_logger(), "Loaded '" << param_name << "' = " << tmp << "s");
-    }
-    catch (const rclcpp::ParameterTypeException& e)
-    {
-      RCLCPP_ERROR_STREAM(node.get_logger(), "Could not load param '" << param_name << "': " << e.what());
-      return false;
-    }
-    return true;
+    return ok_out;
   }
 
   template <class T>