parameters.h

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#ifndef NAV_2D_UTILS_PARAMETERS_H
#define NAV_2D_UTILS_PARAMETERS_H

#include <ros/ros.h>
#include <string>

namespace nav_2d_utils
{

template<class param_t>
param_t searchAndGetParam(const ros::NodeHandle& nh, const std::string& param_name, const param_t& default_value)
{
  std::string resolved_name;
  if (nh.searchParam(param_name, resolved_name))
  {
    param_t value = default_value;
    nh.param(resolved_name, value, default_value);
    return value;
  }
  return default_value;
}

template<class param_t>
param_t loadParameterWithDeprecation(const ros::NodeHandle& nh, const std::string current_name,
                                     const std::string old_name, const param_t& default_value)
{
  param_t value;
  if (nh.hasParam(current_name))
  {
    nh.getParam(current_name, value);
    return value;
  }
  if (nh.hasParam(old_name))
  {
    ROS_WARN("Parameter %s is deprecated. Please use the name %s instead.", old_name.c_str(), current_name.c_str());
    nh.getParam(old_name, value);
    return value;
  }
  return default_value;
}

template<class param_t>
void moveDeprecatedParameter(const ros::NodeHandle& nh, const std::string current_name, const std::string old_name)
{
  if (!nh.hasParam(old_name)) return;

  param_t value;
  ROS_WARN("Parameter %s is deprecated. Please use the name %s instead.", old_name.c_str(), current_name.c_str());
  nh.getParam(old_name, value);
  nh.setParam(current_name, value);
}

template<class param_t>
void moveParameter(const ros::NodeHandle& nh, std::string old_name,
                   std::string current_name, param_t default_value, bool should_delete = true)
{
  if (nh.hasParam(current_name))
  {
    if (should_delete)
      nh.deleteParam(old_name);
    return;
  }
  XmlRpc::XmlRpcValue value;
  if (nh.hasParam(old_name))
  {
    nh.getParam(old_name, value);
    if (should_delete) nh.deleteParam(old_name);
  }
  else
    value = default_value;

  nh.setParam(current_name, value);
}


}  // namespace nav_2d_utils

#endif  // NAV_2D_UTILS_PARAMETERS_H