add getters and setters for topics

include/ccf/controller/RobotArmController.h

@@ -33,6 +33,22 @@ private:
     std::string initSceneTopic;
     std::string sendSceneTopic;
     std::string commandTopic;
+public:
+    const std::string &getSelectionTopic() const;
+
+    void setSelectionTopic(const std::string &selectionTopic);
+
+    const std::string &getInitSceneTopic() const;
+
+    void setInitSceneTopic(const std::string &initSceneTopic);
+
+    const std::string &getSendSceneTopic() const;
+
+    void setSendSceneTopic(const std::string &sendSceneTopic);
+
+    const std::string &getCommandTopic() const;
+
+    void setCommandTopic(const std::string &commandTopic);
 
 protected:
     ros::NodeHandle nodeHandle;

src/ccf/controller/RobotArmController.cpp

@@ -8,8 +8,11 @@
 #include <google/protobuf/text_format.h>
 #include <google/protobuf/util/json_util.h>
 
+#include "ccf/util/NodeUtil.h"
 #include "ccf/controller/RobotArmController.h"
 
+using CetiRosToolbox::getParameter;
+
 void RobotArmController::receive(const std::string &channel, const std::string &data) {
     ROS_WARN_STREAM("[ros2cgv] Received message on channel " << channel << ".");
     if (channel == selectionTopic) {
@@ -90,21 +93,11 @@ RobotArmController::RobotArmController(const ros::NodeHandle &nodeHandle, const
           selectionAction([](const Selection &s) {}),
           cellName(cellName) {
 
-    selectionTopic = "selection";
-    initSceneTopic = cellName + "/scene/init";
-    sendSceneTopic = cellName + "/scene/update";
-    commandTopic = cellName + "/command";
+    selectionTopic = getParameter(nodeHandle, "topics/selection","selection");
+    initSceneTopic = getParameter(nodeHandle, "topics/initScene",cellName + "/scene/init");
+    sendSceneTopic = getParameter(nodeHandle, "topics/sendScene",cellName + "/scene/update");
+    commandTopic = getParameter(nodeHandle, "topics/command",cellName + "/command");
 
-    if (!nodeHandle.getParam("topics/selection", selectionTopic)) {
-        ROS_WARN_STREAM("[ros2cgv] Could not get string value for " << nodeHandle.getNamespace()
-                                                                    << "/topics/selection from param server, using default "
-                                                                    << selectionTopic);
-    }
-    if (!nodeHandle.getParam("topics/scene", initSceneTopic)) {
-        ROS_WARN_STREAM("[ros2cgv] Could not get string value for " << nodeHandle.getNamespace()
-                                                                    << "/topics/scene from param server, using default "
-                                                                    << initSceneTopic);
-    }
 }
 
 bool RobotArmController::pickAndPlace(Object &robot, Object &object, Object &location, bool simulateOnly) {
@@ -169,3 +162,35 @@ void RobotArmController::loadScene(const std::string &sceneFile) {
         ROS_WARN_STREAM("[ros2cgv-dummy] Scene invalid! partial content: " << newScene.ShortDebugString());
     }
 }
+
+const std::string &RobotArmController::getSelectionTopic() const {
+    return selectionTopic;
+}
+
+void RobotArmController::setSelectionTopic(const std::string &selectionTopic) {
+    RobotArmController::selectionTopic = selectionTopic;
+}
+
+const std::string &RobotArmController::getInitSceneTopic() const {
+    return initSceneTopic;
+}
+
+void RobotArmController::setInitSceneTopic(const std::string &initSceneTopic) {
+    RobotArmController::initSceneTopic = initSceneTopic;
+}
+
+const std::string &RobotArmController::getSendSceneTopic() const {
+    return sendSceneTopic;
+}
+
+void RobotArmController::setSendSceneTopic(const std::string &sendSceneTopic) {
+    RobotArmController::sendSceneTopic = sendSceneTopic;
+}
+
+const std::string &RobotArmController::getCommandTopic() const {
+    return commandTopic;
+}
+
+void RobotArmController::setCommandTopic(const std::string &commandTopic) {
+    RobotArmController::commandTopic = commandTopic;
+}