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fix(ros): use getParamCached instead of getParam

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This commit is contained in:
TinyOh 2019-03-23 11:11:21 +08:00
parent e616d72e40
commit 0038e8c026
3 changed files with 23 additions and 23 deletions
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6
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@ -70,9 +70,9 @@
<param name="temperature_frame_id" value="$(arg temperature_frame_id)" /> <param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" /> <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" /> <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" /> <rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
<param name="gravity" value="$(arg gravity)" /> <param name="gravity" value="$(arg gravity)" />
</node> </node>

8
wrappers/ros/src/mynt_eye_ros_wrapper/launch/slam/vins_fusion.launch
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@ -71,10 +71,10 @@
<param name="temperature_frame_id" value="$(arg temperature_frame_id)" /> <param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" /> <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" /> <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" /> <rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/slam/vins_fusion.yaml" /> <rosparam file="$(find mynt_eye_ros_wrapper)/config/slam/vins_fusion.yaml" command="load" />
<param name="gravity" value="$(arg gravity)" /> <param name="gravity" value="$(arg gravity)" />
</node> </node>

32
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -193,7 +193,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
std::map<Stream, std::string> stream_topics{}; std::map<Stream, std::string> stream_topics{};
for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) { for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) {
stream_topics[it->first] = it->second; 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 // if published init
is_published_[it->first] = false; is_published_[it->first] = false;
@ -207,33 +207,33 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
std::map<Stream, std::string> mono_topics{}; std::map<Stream, std::string> mono_topics{};
for (auto &&it = mono_names.begin(); it != mono_names.end(); ++it) { for (auto &&it = mono_names.begin(); it != mono_names.end(); ++it) {
mono_topics[it->first] = it->second; 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 imu_topic = "imu";
std::string temperature_topic = "temperature"; std::string temperature_topic = "temperature";
private_nh_.getParam("imu_topic", imu_topic); private_nh_.getParamCached("imu_topic", imu_topic);
private_nh_.getParam("temperature_topic", temperature_topic); private_nh_.getParamCached("temperature_topic", temperature_topic);
base_frame_id_ = "camera_link"; 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) { for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) {
frame_ids_[it->first] = "camera_" + it->second + "_frame"; 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"; imu_frame_id_ = "camera_imu_frame";
temperature_frame_id_ = "camera_temperature_frame"; temperature_frame_id_ = "camera_temperature_frame";
private_nh_.getParam("imu_frame_id", imu_frame_id_); private_nh_.getParamCached("imu_frame_id", imu_frame_id_);
private_nh_.getParam("temperature_frame_id", temperature_frame_id_); private_nh_.getParamCached("temperature_frame_id", temperature_frame_id_);
gravity_ = 9.8; gravity_ = 9.8;
private_nh_.getParam("gravity", gravity_); private_nh_.getParamCached("gravity", gravity_);
int tmp_disparity_type_ = 0; int tmp_disparity_type_ = 0;
disparity_type_ = DisparityComputingMethod::BM; 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_; disparity_type_ = (DisparityComputingMethod)tmp_disparity_type_;
api_->SetDisparityComputingMethodType(disparity_type_); api_->SetDisparityComputingMethodType(disparity_type_);
@ -290,7 +290,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
if (!api_->Supports(it->first)) if (!api_->Supports(it->first))
continue; continue;
int value = -1; int value = -1;
private_nh_.getParam(it->second, value); private_nh_.getParamCached(it->second, value);
if (value != -1) { if (value != -1) {
NODELET_INFO_STREAM("Set " << it->second << " to " << value); NODELET_INFO_STREAM("Set " << it->second << " to " << value);
api_->SetOptionValue(it->first, value); api_->SetOptionValue(it->first, value);
@ -351,7 +351,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
pub_mesh_ = nh_.advertise<visualization_msgs::Marker>("camera_mesh", 0 ); pub_mesh_ = nh_.advertise<visualization_msgs::Marker>("camera_mesh", 0 );
// where to get the mesh from // where to get the mesh from
std::string mesh_file; 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; mesh_msg_.mesh_resource = "package://mynt_eye_ros_wrapper/mesh/"+mesh_file;
} else { } else {
LOG(INFO) << "no mesh found for visualisation, set ros param mesh_file, if desired"; 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)) if (!api_->Supports(it->first))
continue; continue;
bool enabled = false; bool enabled = false;
private_nh_.getParam("enable_" + it->second, enabled); private_nh_.getParamCached("enable_" + it->second, enabled);
if (enabled) { if (enabled) {
api_->EnableStreamData(it->first); api_->EnableStreamData(it->first);
NODELET_INFO_STREAM("Enable stream data of " << it->first); NODELET_INFO_STREAM("Enable stream data of " << it->first);
@ -1075,7 +1075,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
model_ = api_->GetModel(); model_ = api_->GetModel();
if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) { 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) { switch (request_index) {
case 0: case 0:
case 4: case 4:
@ -1095,14 +1095,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
} }
} }
if (model_ == Model::STANDARD) { 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); frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);
} }
std::int32_t process_mode = 0; std::int32_t process_mode = 0;
if (model_ == Model::STANDARD2 || if (model_ == Model::STANDARD2 ||
model_ == Model::STANDARD210A) { 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); api_->EnableProcessMode(process_mode);
} }