Modifiy parameter declaration - approach equalization with ros-controls dependencies (#152)

livanov93 · destogl · web-flow · commit 2657e2782085 · 2021-08-31T15:53:10.000+02:00
* Adapt parameter declaration.

* Move declaration to templated version.

* Remove unnecessary node declaration.

Co-authored-by: Denis Štogl &lt;destogl@users.noreply.github.com&gt;

Co-authored-by: Denis Štogl &lt;destogl@users.noreply.github.com&gt;
diff --git a/ur_controllers/src/speed_scaling_state_broadcaster.cpp b/ur_controllers/src/speed_scaling_state_broadcaster.cpp
@@ -60,7 +60,7 @@ controller_interface::InterfaceConfiguration SpeedScalingStateBroadcaster::state
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 SpeedScalingStateBroadcaster::on_configure(const rclcpp_lifecycle::State& /*previous_state*/)
 {
-  node_->declare_parameter("state_publish_rate");
+  auto_declare<double>("state_publish_rate", 100.0);
 
   if (!node_->get_parameter("state_publish_rate", publish_rate_)) {
     RCLCPP_INFO(get_node()->get_logger(), "Parameter 'state_publish_rate' not set");

Original file line number	Diff line number	Diff line change
`@@ -60,7 +60,7 @@ controller_interface::InterfaceConfiguration SpeedScalingStateBroadcaster::state`
`60`	`60`	`rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn`
`61`	`61`	`SpeedScalingStateBroadcaster::on_configure(const rclcpp_lifecycle::State& /previous_state/)`
`62`	`62`	`{`
`63`		`- node_->declare_parameter("state_publish_rate");`
	`63`	`+ auto_declare<double>("state_publish_rate", 100.0);`
`64`	`64`
`65`	`65`	`if (!node_->get_parameter("state_publish_rate", publish_rate_)) {`
`66`	`66`	`RCLCPP_INFO(get_node()->get_logger(), "Parameter 'state_publish_rate' not set");`