example.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2015, PickNik LLC
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of PickNik LLC nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Dave Coleman
36  Desc: Example of how to use rosparam_shorcuts
37 */
38 
39 // C++
40 #include <string>
41 #include <vector>
42 
43 // ROS
44 #include <ros/ros.h>
45 
46 // ROS parameter loading
48 
49 int main(int argc, char** argv)
50 {
51  std::string name = "example";
52  ros::init(argc, argv, name);
53  ros::NodeHandle nh;
54  ROS_INFO_STREAM_NAMED(name, "Starting rosparam shortcuts example...");
55 
56  // Allow the action server to recieve and send ros messages
57  ros::AsyncSpinner spinner(2);
58  spinner.start();
59 
60  double control_rate;
61  int param1;
62  std::size_t param2;
63  ros::Duration param3;
64  Eigen::Affine3d param4;
65  std::vector<double> param5;
66  Eigen::Affine3d param6;
67 
68  // Load rosparams
69  ros::NodeHandle rpnh(nh, name);
70  std::size_t error = 0;
71  error += !rosparam_shortcuts::get(name, rpnh, "control_rate", control_rate); // Double param
72  error += !rosparam_shortcuts::get(name, rpnh, "param1", param1); // Int param
73  error += !rosparam_shortcuts::get(name, rpnh, "param2", param2); // SizeT param
74  error += !rosparam_shortcuts::get(name, rpnh, "param3", param3); // Duration param
75  error += !rosparam_shortcuts::get(name, rpnh, "param4", param4); // Affine3d param
76  error += !rosparam_shortcuts::get(name, rpnh, "param5", param5); // std::vector<double>
77  error += !rosparam_shortcuts::get(name, rpnh, "param6", param6); // Affine3d param
78  // add more parameters here to load if desired
80 
81  // Output values that were read in
82  ROS_INFO_STREAM_NAMED(name, "control rate: " << control_rate);
83  ROS_INFO_STREAM_NAMED(name, "param1: " << param1);
84  ROS_INFO_STREAM_NAMED(name, "param2: " << param2);
85  ROS_INFO_STREAM_NAMED(name, "param3: " << param3.toSec());
86  ROS_INFO_STREAM_NAMED(name, "param4: Translation:\n" << param4.translation());
87  ROS_INFO_STREAM_NAMED(name, "param5[0]: " << param5[0]);
88  ROS_INFO_STREAM_NAMED(name, "param5[3]: " << param5[3]);
89  ROS_INFO_STREAM_NAMED(name, "param6: Translation:\n" << param6.translation());
90  ROS_INFO_STREAM_NAMED(name, "Shutting down.");
91  ros::shutdown();
92 
93  return 0;
94 }
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
#define ROS_INFO_STREAM_NAMED(name, args)
int main(int argc, char **argv)
Definition: example.cpp:49
void shutdownIfError(const std::string &parent_name, std::size_t error_count)
Check that there were no errors, and if there were, shutdown.
ROSCPP_DECL void shutdown()
bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, bool &value)
Get a paremeter from the ROS param server. Note that does not provide for default values...


rosparam_shortcuts
Author(s): Dave Coleman
autogenerated on Mon Jun 10 2019 14:48:25