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Commit ae40e919 authored by Johannes Mey's avatar Johannes Mey
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use getParameter

parent 17c0d795
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...@@ -29,13 +29,9 @@ int main(int argc, char **argv) { ...@@ -29,13 +29,9 @@ int main(int argc, char **argv) {
ros::init(argc, argv, NODE_NAME); ros::init(argc, argv, NODE_NAME);
ros::NodeHandle n("connector_node_ros_cgv"); // namespace where the cgv_address is ros::NodeHandle n("connector_node_ros_cgv"); // namespace where the connection_address is
std::string cgv_address = "tcp://*:6576"; std::string cgv_address = getParameter<std::string>(n, "connection_address", "tcp://*:6576");
if (!n.getParam("cgv_address", cgv_address)) {
ROS_WARN_STREAM("[" << NODE_NAME << "] Could not get string value for " << n.getNamespace()
<< "/cgv_address from param server, using default " << cgv_address);
}
DummyRobotArmController connector{n, NODE_NAME}; DummyRobotArmController connector{n, NODE_NAME};
...@@ -118,4 +114,4 @@ int main(int argc, char **argv) { ...@@ -118,4 +114,4 @@ int main(int argc, char **argv) {
ros::spin(); ros::spin();
return 0; return 0;
} }
\ No newline at end of file
...@@ -28,13 +28,9 @@ int main(int argc, char **argv) { ...@@ -28,13 +28,9 @@ int main(int argc, char **argv) {
ros::init(argc, argv, NODE_NAME); ros::init(argc, argv, NODE_NAME);
ros::NodeHandle n("connector_node_ros_cgv"); // namespace where the cgv_address is ros::NodeHandle n("connector_node_ros_cgv"); // namespace where the connection_address is
std::string cgv_address = "tcp://*:6576"; std::string cgv_address = getParameter<std::string>(n, "connection_address", "tcp://*:6576");
if (!n.getParam("cgv_address", cgv_address)) {
ROS_WARN_STREAM("[" << NODE_NAME << "] Could not get string value for " << n.getNamespace()
<< "/cgv_address from param server, using default " << cgv_address);
}
MoveItRobotArmController connector{n, NODE_NAME}; MoveItRobotArmController connector{n, NODE_NAME};
......
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