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Add get_parameter_or overload returning value or alternative #2973

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Merged
merged 2 commits into from
Nov 7, 2025
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Merged

Add get_parameter_or overload returning value or alternative #2973

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8ffcf53
feat(lifecycle_node): add get_parameter_or overload returning value o…
Maverobot Oct 31, 2025
384c781
test: add tests for get_parameter_or in lifecycle node
Maverobot Nov 1, 2025
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10 changes: 10 additions & 0 deletions rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -486,6 +486,16 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
ParameterT & value,
const ParameterT & alternative_value) const;

/// Return the parameter value, or the "alternative_value" if not set.
/**
* \sa rclcpp::Node::get_parameter_or
*/
template<typename ParameterT>
ParameterT
get_parameter_or(
const std::string & name,
const ParameterT & alternative_value) const;

/// Return the parameters by the given parameter names.
/**
* \sa rclcpp::Node::get_parameters
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11 changes: 11 additions & 0 deletions rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
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Expand Up @@ -306,5 +306,16 @@ LifecycleNode::get_parameter_or(
return got_parameter;
}

template<typename ParameterT>
ParameterT
LifecycleNode::get_parameter_or(
const std::string & name,
const ParameterT & alternative_value) const
{
ParameterT parameter;
get_parameter_or(name, parameter, alternative_value);
return parameter;
}

} // namespace rclcpp_lifecycle
#endif // RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_