Parameter loading fixup in diff_drive and gripper controllers (ros-co…

…ntrols#385) * Parameter loading fixup * Lint
StoglRobotics-forks · Jul 23, 2022 · 001d896 · 001d896
1 parent 59cf344
commit 001d896
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -77,9 +77,10 @@ controller_interface::CallbackReturn DiffDriveController::on_init()
     auto_declare<bool>("enable_odom_tf", odom_params_.enable_odom_tf);
 
     auto_declare<double>("cmd_vel_timeout", cmd_vel_timeout_.count() / 1000.0);
-    auto_declare<bool>("publish_limited_velocity", publish_limited_velocity_);
+    publish_limited_velocity_ = auto_declare<bool>("publish_limited_velocity",
+                                                   publish_limited_velocity_);
     auto_declare<int>("velocity_rolling_window_size", 10);
-    auto_declare<bool>("use_stamped_vel", use_stamped_vel_);
+    use_stamped_vel_ = auto_declare<bool>("use_stamped_vel", use_stamped_vel_);
 
     auto_declare<bool>("linear.x.has_velocity_limits", false);
     auto_declare<bool>("linear.x.has_acceleration_limits", false);
@@ -100,7 +101,7 @@ controller_interface::CallbackReturn DiffDriveController::on_init()
     auto_declare<double>("angular.z.min_acceleration", NAN);
     auto_declare<double>("angular.z.max_jerk", NAN);
     auto_declare<double>("angular.z.min_jerk", NAN);
-    auto_declare<double>("publish_rate", publish_rate_);
+    publish_rate_ = auto_declare<double>("publish_rate", publish_rate_);
   }
   catch (const std::exception & e)
   {

diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
@@ -43,7 +43,7 @@ controller_interface::CallbackReturn GripperActionController<HardwareInterface>:
   {
     // with the lifecycle node being initialized, we can declare parameters
     auto_declare<double>("action_monitor_rate", 20.0);
-    auto_declare<std::string>("joint", joint_name_);
+    joint_name_ = auto_declare<std::string>("joint", joint_name_);
     auto_declare<double>("goal_tolerance", 0.01);
     auto_declare<double>("max_effort", 0.0);
     auto_declare<bool>("allow_stalling", false);