use getParameter

src/dummy_cgv_controller.cpp

@@ -29,13 +29,9 @@ int main(int argc, char **argv) {
 
     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";
-    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);
-    }
+    std::string cgv_address = getParameter<std::string>(n, "connection_address", "tcp://*:6576");
 
     DummyRobotArmController connector{n, NODE_NAME};
 
@@ -118,4 +114,4 @@ int main(int argc, char **argv) {
     ros::spin();
 
     return 0;
-}
+}
\ No newline at end of file

src/moveit_cgv_controller.cpp

@@ -28,13 +28,9 @@ int main(int argc, char **argv) {
 
     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";
-    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);
-    }
+    std::string cgv_address = getParameter<std::string>(n, "connection_address", "tcp://*:6576");
 
     MoveItRobotArmController connector{n, NODE_NAME};