Function cras::getParam(const ::ros::NodeHandle&, const ::std::string&, const ::cras::optional<const char *>&, const ::std::string&, const ::cras::GetParamOptions<::std::string>&)

Function Documentation

inline ::std::string cras::getParam(const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional<const char*> &defaultValue, const ::std::string &unit = "", const ::cras::GetParamOptions<::std::string> &options = {})

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters:

  • node – [in] The node handle from which parameters are read.

  • name – [in] Name of the parameter.

  • defaultValue – [in] The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.

  • unit – [in] Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.

  • options – [in] Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. {.throwIfConvertFails = true, .allowNestedParams = false}.

Returns:

The loaded parameter value.