example.cpp

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/* Author: Dave Coleman
   Desc:   Example of how to use rosparam_shorcuts
*/

// C++
#include <string>
#include <vector>

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

// ROS parameter loading
#include <rosparam_shortcuts/rosparam_shortcuts.h>

int main(int argc, char** argv)
{
  std::string name = "example";
  ros::init(argc, argv, name);
  ros::NodeHandle nh;
  ROS_INFO_STREAM_NAMED(name, "Starting rosparam shortcuts example...");

  // Allow the action server to recieve and send ros messages
  ros::AsyncSpinner spinner(2);
  spinner.start();

  double control_rate;
  int param1;
  std::size_t param2;
  ros::Duration param3;
  Eigen::Affine3d param4;
  std::vector<double> param5;
  Eigen::Affine3d param6;

  // Load rosparams
  ros::NodeHandle rpnh(nh, name);
  std::size_t error = 0;
  error += !rosparam_shortcuts::get(name, rpnh, "control_rate", control_rate);  // Double param
  error += !rosparam_shortcuts::get(name, rpnh, "param1", param1);              // Int param
  error += !rosparam_shortcuts::get(name, rpnh, "param2", param2);              // SizeT param
  error += !rosparam_shortcuts::get(name, rpnh, "param3", param3);              // Duration param
  error += !rosparam_shortcuts::get(name, rpnh, "param4", param4);              // Affine3d param
  error += !rosparam_shortcuts::get(name, rpnh, "param5", param5);              // std::vector<double>
  error += !rosparam_shortcuts::get(name, rpnh, "param6", param6);              // Affine3d param
  // add more parameters here to load if desired
  rosparam_shortcuts::shutdownIfError(name, error);

  // Output values that were read in
  ROS_INFO_STREAM_NAMED(name, "control rate: " << control_rate);
  ROS_INFO_STREAM_NAMED(name, "param1: " << param1);
  ROS_INFO_STREAM_NAMED(name, "param2: " << param2);
  ROS_INFO_STREAM_NAMED(name, "param3: " << param3.toSec());
  ROS_INFO_STREAM_NAMED(name, "param4: Translation:\n" << param4.translation());
  ROS_INFO_STREAM_NAMED(name, "param5[0]: " << param5[0]);
  ROS_INFO_STREAM_NAMED(name, "param5[3]: " << param5[3]);
  ROS_INFO_STREAM_NAMED(name, "param6: Translation:\n" << param6.translation());
  ROS_INFO_STREAM_NAMED(name, "Shutting down.");
  ros::shutdown();

  return 0;
}