From 0038e8c0262b557c723d2e45f8585631f86fdb70 Mon Sep 17 00:00:00 2001 From: TinyOh Date: Sat, 23 Mar 2019 11:11:21 +0800 Subject: [PATCH] fix(ros): use getParamCached instead of getParam --- .../launch/mynteye.launch | 6 ++-- .../launch/slam/vins_fusion.launch | 8 ++--- .../src/wrapper_nodelet.cc | 32 +++++++++---------- 3 files changed, 23 insertions(+), 23 deletions(-) diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch index 09a9b5b..5ecc718 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch @@ -70,9 +70,9 @@ - - - + + + diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/slam/vins_fusion.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/slam/vins_fusion.launch index 6a8d81f..1a84ed4 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/slam/vins_fusion.launch +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/slam/vins_fusion.launch @@ -71,10 +71,10 @@ - - - - + + + + diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc index c6d96ce..4e4c668 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc @@ -193,7 +193,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet { std::map stream_topics{}; for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) { stream_topics[it->first] = it->second; - private_nh_.getParam(it->second + "_topic", stream_topics[it->first]); + private_nh_.getParamCached(it->second + "_topic", stream_topics[it->first]); // if published init is_published_[it->first] = false; @@ -207,33 +207,33 @@ class ROSWrapperNodelet : public nodelet::Nodelet { std::map mono_topics{}; for (auto &&it = mono_names.begin(); it != mono_names.end(); ++it) { mono_topics[it->first] = it->second; - private_nh_.getParam(it->second + "_topic", mono_topics[it->first]); + private_nh_.getParamCached(it->second + "_topic", mono_topics[it->first]); } std::string imu_topic = "imu"; std::string temperature_topic = "temperature"; - private_nh_.getParam("imu_topic", imu_topic); - private_nh_.getParam("temperature_topic", temperature_topic); + private_nh_.getParamCached("imu_topic", imu_topic); + private_nh_.getParamCached("temperature_topic", temperature_topic); base_frame_id_ = "camera_link"; - private_nh_.getParam("base_frame_id", base_frame_id_); + private_nh_.getParamCached("base_frame_id", base_frame_id_); for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) { frame_ids_[it->first] = "camera_" + it->second + "_frame"; - private_nh_.getParam(it->second + "_frame_id", frame_ids_[it->first]); + private_nh_.getParamCached(it->second + "_frame_id", frame_ids_[it->first]); } imu_frame_id_ = "camera_imu_frame"; temperature_frame_id_ = "camera_temperature_frame"; - private_nh_.getParam("imu_frame_id", imu_frame_id_); - private_nh_.getParam("temperature_frame_id", temperature_frame_id_); + private_nh_.getParamCached("imu_frame_id", imu_frame_id_); + private_nh_.getParamCached("temperature_frame_id", temperature_frame_id_); gravity_ = 9.8; - private_nh_.getParam("gravity", gravity_); + private_nh_.getParamCached("gravity", gravity_); int tmp_disparity_type_ = 0; disparity_type_ = DisparityComputingMethod::BM; - private_nh_.getParam("disparity_computing_method", tmp_disparity_type_); + private_nh_.getParamCached("disparity_computing_method", tmp_disparity_type_); disparity_type_ = (DisparityComputingMethod)tmp_disparity_type_; api_->SetDisparityComputingMethodType(disparity_type_); @@ -290,7 +290,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet { if (!api_->Supports(it->first)) continue; int value = -1; - private_nh_.getParam(it->second, value); + private_nh_.getParamCached(it->second, value); if (value != -1) { NODELET_INFO_STREAM("Set " << it->second << " to " << value); api_->SetOptionValue(it->first, value); @@ -351,7 +351,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet { pub_mesh_ = nh_.advertise("camera_mesh", 0 ); // where to get the mesh from std::string mesh_file; - if (private_nh_.getParam("mesh_file", mesh_file)) { + if (private_nh_.getParamCached("mesh_file", mesh_file)) { mesh_msg_.mesh_resource = "package://mynt_eye_ros_wrapper/mesh/"+mesh_file; } else { LOG(INFO) << "no mesh found for visualisation, set ros param mesh_file, if desired"; @@ -367,7 +367,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet { if (!api_->Supports(it->first)) continue; bool enabled = false; - private_nh_.getParam("enable_" + it->second, enabled); + private_nh_.getParamCached("enable_" + it->second, enabled); if (enabled) { api_->EnableStreamData(it->first); NODELET_INFO_STREAM("Enable stream data of " << it->first); @@ -1075,7 +1075,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet { model_ = api_->GetModel(); if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) { - private_nh_.getParam("standard2/request_index", request_index); + private_nh_.getParamCached("standard2/request_index", request_index); switch (request_index) { case 0: case 4: @@ -1095,14 +1095,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet { } } if (model_ == Model::STANDARD) { - private_nh_.getParam("standard/request_index", request_index); + private_nh_.getParamCached("standard/request_index", request_index); frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE); } std::int32_t process_mode = 0; if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) { - private_nh_.getParam("standard2/imu_process_mode", process_mode); + private_nh_.getParamCached("standard2/imu_process_mode", process_mode); api_->EnableProcessMode(process_mode); }