Modified the loadDeviceId() function to accept optional parameter names for the device UUID and device name

Author: svwilliams

fuse_variables/include/fuse_variables/stamped.h

@@ -111,25 +111,32 @@ class Stamped
 /**
  * @brief Load a device id from the parameter server
  *
- * This function first checks if the 'device_id' parameter is available. If so, it attempts to load the device_id
+ * This function first checks if the \p uuid_parameter parameter is available. If so, it attempts to load the device_id
  * using that parameter. There are a few supported formats:
  * - "01234567-89AB-CDEF-0123-456789ABCDEF"
  * - "01234567-89ab-cdef-0123-456789abcdef"
  * - "0123456789abcdef0123456789abcdef"
  * - "{01234567-89ab-cdef-0123-456789abcdef}"
  *
- * If the 'device_id' parameter doesn't exist, this function checks for the 'device_name' parameter. If found, a
- * device_id is generated by computing a hash on the provided string. See fuse_core::uuid::generate(const std::string&)
- * for details.
+ * If the \p uuid_parameter parameter doesn't exist, this function checks for the \p name_parameter'device_name'
+ * parameter. If found, a device_id is generated by computing a hash on the provided string. See
+ * fuse_core::uuid::generate(const std::string&) for details.
  *
  * If neither parameter exits, the device_id is populated by all zeros, the so-called NIL UUID.
  *
  * Will throw if the device_id parameter is not in an expected format.
  *
  * @param[in] node_handle A node handle in the desired parameter namespace
- * @return                A device UUID
+ * @param[in] uuid_parameter The parameter name that holds the device uuid to be loaded
+ * @param[in] name_parameter The parameter name that holds the device name. The uuid will be generated from the name.
+ * @param[in] silent If true, no ROS log warnings are generated
+ * @return A device UUID
  */
-fuse_core::UUID loadDeviceId(const ros::NodeHandle& node_handle);
+fuse_core::UUID loadDeviceId(
+  const ros::NodeHandle& node_handle,
+  const std::string& uuid_parameter = "device_id",
+  const std::string& name_parameter = "device_name",
+  bool silent = true);
 
 }  // namespace fuse_variables
 

fuse_variables/src/stamped.cpp

@@ -34,6 +34,7 @@
 #include <fuse_variables/stamped.h>
 
 #include <fuse_core/uuid.h>
+#include <ros/console.h>
 #include <ros/node_handle.h>
 
 #include <string>
@@ -42,21 +43,28 @@
 namespace fuse_variables
 {
 
-fuse_core::UUID loadDeviceId(const ros::NodeHandle& node_handle)
+fuse_core::UUID loadDeviceId(
+  const ros::NodeHandle& node_handle,
+  const std::string& uuid_parameter,
+  const std::string& name_parameter,
+  bool silent)
 {
   fuse_core::UUID device_id;
   std::string device_str;
-  if (node_handle.getParam("device_id", device_str))
+  if (node_handle.getParam(uuid_parameter, device_str))
   {
     device_id = fuse_core::uuid::from_string(device_str);
   }
-  else if (node_handle.getParam("device_name", device_str))
+  else if (node_handle.getParam(name_parameter, device_str))
   {
     device_id = fuse_core::uuid::generate(device_str);
   }
   else
   {
     device_id = fuse_core::uuid::NIL;
+    ROS_WARN_STREAM_COND(
+      !silent,
+      "No " + uuid_parameter + " or " + name_parameter + " parameter was provided on the parameter server.");
   }
   return device_id;
 }