remove use of parameter

src/teaching/pose_tf_listener.cpp

@@ -27,10 +27,6 @@ void collect(ros::NodeHandle node_handle, geometry_msgs::TransformStamped t) {
   }
 }
 
-void collectPose(ros::NodeHandle &node_handle){
-  node_handle.setParam("collect_pose", true);
-}
-
 void cleanUp(ros::NodeHandle &node_handle) {
   ros::ServiceClient client = node_handle.serviceClient<panda_teaching::DeletePose>("DeleteCollectedPoses");
   panda_teaching::DeletePose srv;
@@ -40,13 +36,25 @@ void cleanUp(ros::NodeHandle &node_handle){
   }
 }
 
+// global variable. should be put in class
+tf2_ros::Buffer tfBuffer;
+
 void collectorCallback(const std_msgs::String::ConstPtr &msg, ros::NodeHandle &node_handle) {
 
   ROS_INFO("Retrieved new pose-message...");
 
   if (msg->data.compare("collect") == 0) {
     ROS_INFO("Collecting new pose for gripper...");
-    collectPose(node_handle);
+    try {
+      geometry_msgs::TransformStamped transformStamped = tfBuffer.lookupTransform("world", "panda_hand", ros::Time(0));
+
+      std::cout << "Collected pose: " << transformStamped << std::endl;
+      collect(node_handle, transformStamped);
+    }
+    catch (tf2::TransformException &ex) {
+      ROS_ERROR_STREAM("transform_error: " << ex.what() << std::endl);
+      ros::Duration(1.0).sleep();
+    }
     return;
   }
 
@@ -62,38 +70,12 @@ int main(int argc, char **argv) {
 
   ros::NodeHandle node_handle;
 
-
   ros::Subscriber sub = node_handle.subscribe<std_msgs::String>("collectPose", 1000, boost::bind(&collectorCallback, _1, boost::ref(node_handle)));
 
-    tf2_ros::Buffer tfBuffer;
   tf2_ros::TransformListener tfListener(tfBuffer);
 
   ros::Rate rate(10.0);
 
-    while (node_handle.ok()) {
-
-        geometry_msgs::TransformStamped transformStamped;
-
-        try {
-            // world == (0, 0, 0, 0)
-            transformStamped = tfBuffer.lookupTransform("world", "panda_hand",
-                                                        ros::Time(0));
-
-            bool collect_pose = false;
-            node_handle.getParam("collect_pose", collect_pose);
-
-            if (collect_pose) {
-                std::cout << "Collected pose: " << transformStamped << std::endl;
-                node_handle.setParam("collect_pose", false);
-                collect(node_handle, transformStamped);
-            }
-        }
-        catch (tf2::TransformException &ex) {
-            std::cout << "transform_error: " << ex.what() << std::endl;
-            ros::Duration(1.0).sleep();
-            continue;
-        }
-        ros::spinOnce();
-    }
+  ros::spin();
   return 0;
 };