parameter_magic.h

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#ifndef NAV_CORE_PARAMETER_MAGIC_H
#define NAV_CORE_PARAMETER_MAGIC_H

namespace nav_core
{

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;
}

void warnRenamedParameter(const ros::NodeHandle& nh, const std::string current_name, const std::string old_name)
{
  if (nh.hasParam(old_name))
  {
    ROS_WARN("Parameter %s is deprecated (and will not load properly). Use %s instead.", old_name.c_str(), current_name.c_str());
  }
}

}  // namespace nav_core

#endif  // NAV_CORE_PARAMETER_MAGIC_H