example.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2015, PickNik LLC
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of PickNik LLC nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Dave Coleman
00036    Desc:   Example of how to use rosparam_shorcuts
00037 */
00038 
00039 // C++
00040 #include <string>
00041 #include <vector>
00042 
00043 // ROS
00044 #include <ros/ros.h>
00045 
00046 // ROS parameter loading
00047 #include <rosparam_shortcuts/rosparam_shortcuts.h>
00048 
00049 int main(int argc, char** argv)
00050 {
00051   std::string name = "example";
00052   ros::init(argc, argv, name);
00053   ros::NodeHandle nh;
00054   ROS_INFO_STREAM_NAMED(name, "Starting rosparam shortcuts example...");
00055 
00056   // Allow the action server to recieve and send ros messages
00057   ros::AsyncSpinner spinner(2);
00058   spinner.start();
00059 
00060   double control_rate;
00061   int param1;
00062   std::size_t param2;
00063   ros::Duration param3;
00064   Eigen::Affine3d param4;
00065   std::vector<double> param5;
00066 
00067   // Load rosparams
00068   ros::NodeHandle rpnh(nh, name);
00069   std::size_t error = 0;
00070   error += !rosparam_shortcuts::get(name, rpnh, "control_rate", control_rate);  // Double param
00071   error += !rosparam_shortcuts::get(name, rpnh, "param1", param1);              // Int param
00072   error += !rosparam_shortcuts::get(name, rpnh, "param2", param2);              // SizeT param
00073   error += !rosparam_shortcuts::get(name, rpnh, "param3", param3);              // Duration param
00074   error += !rosparam_shortcuts::get(name, rpnh, "param4", param4);              // Affine3d param
00075   error += !rosparam_shortcuts::get(name, rpnh, "param5", param5);              // std::vector<double>
00076   // add more parameters here to load if desired
00077   rosparam_shortcuts::shutdownIfError(name, error);
00078 
00079   // Output values that were read in
00080   ROS_INFO_STREAM_NAMED(name, "control rate: " << control_rate);
00081   ROS_INFO_STREAM_NAMED(name, "param1: " << param1);
00082   ROS_INFO_STREAM_NAMED(name, "param2: " << param2);
00083   ROS_INFO_STREAM_NAMED(name, "param3: " << param3.toSec());
00084   ROS_INFO_STREAM_NAMED(name, "param4: Translation:\n" << param4.translation());
00085   ROS_INFO_STREAM_NAMED(name, "param5[0]: " << param5[0]);
00086   ROS_INFO_STREAM_NAMED(name, "param5[3]: " << param5[3]);
00087   ROS_INFO_STREAM_NAMED(name, "Shutting down.");
00088   ros::shutdown();
00089 
00090   return 0;
00091 }


rosparam_shortcuts
Author(s): Dave Coleman
autogenerated on Sat Jun 8 2019 19:52:43