Fix for getParam name resolution

ros-perception · May 11, 2024 · 5e8a7e6 · 5e8a7e6
1 parent f21b98e
commit 5e8a7e6
Show file tree

Hide file tree

Showing 2 changed files with 14 additions and 2 deletions.
diff --git a/point_cloud_transport/include/point_cloud_transport/simple_publisher_plugin.hpp b/point_cloud_transport/include/point_cloud_transport/simple_publisher_plugin.hpp
@@ -94,7 +94,13 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
   bool getParam(const std::string & name, T & value) const
   {
     if (simple_impl_) {
-      return simple_impl_->node_->get_parameter(name, value);
+      uint ns_len = simple_impl_->node_->get_effective_namespace().length();
+      std::string param_base_name = getTopic().substr(ns_len);
+      std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');
+
+      std::string param_name = param_base_name + "." + name;
+
+      return simple_impl_->node_->get_parameter(param_name, value);
     }
     return false;
   }

diff --git a/point_cloud_transport/include/point_cloud_transport/simple_subscriber_plugin.hpp b/point_cloud_transport/include/point_cloud_transport/simple_subscriber_plugin.hpp
@@ -92,7 +92,13 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
   bool getParam(const std::string & name, T & value) const
   {
     if (impl_) {
-      return impl_->node_->get_parameter(name, value);
+      uint ns_len = impl_->node_->get_effective_namespace().length();
+      std::string param_base_name = getTopic().substr(ns_len);
+      std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');
+
+      std::string param_name = param_base_name + "." + name;
+
+      return impl_->node_->get_parameter(param_name, value);
     }
     return false;
   }