[rolling] Get user specified parameters at startup (#80)

Co-authored-by: Alejandro Hernández Cordero <[email protected]> (cherry picked from commit 90c603a)
ros-perception · May 13, 2024 · c5c72fe · c5c72fe
1 parent fd4d2e9
commit c5c72fe
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Showing 2 changed files with 24 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
@@ -91,10 +91,16 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
 
   //! template function for getting parameter of a given type
   template<typename T>
-  bool getParam(const std::string & name, T & value) const
+  bool getParam(const std::string & parameter_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 + "." + parameter_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
@@ -87,6 +87,22 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
     return {};
   }
 
+  //! template function for getting parameter of a given type
+  template<typename T>
+  bool getParam(const std::string & parameter_name, T & value) const
+  {
+    if (impl_) {
+      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 + "." + parameter_name;
+
+      return impl_->node_->get_parameter(param_name, value);
+    }
+    return false;
+  }
+
   template<typename T>
   bool declareParam(
     const std::string parameter_name, const T value,