Revert "[ForceTorqueSensorBroadcaster] Create ParamListener and get p…

…arameters on configure (#698)" (#988) (#1003)
ros-controls · Jan 31, 2024 · b0c1330 · b0c1330
1 parent fdd4d6e
commit b0c1330
Showing 1 changed file with 9 additions and 7 deletions.
diff --git a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp
@@ -29,12 +29,6 @@ ForceTorqueSensorBroadcaster::ForceTorqueSensorBroadcaster()
 }
 
 controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_init()
-{
-  return controller_interface::CallbackReturn::SUCCESS;
-}
-
-controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
-  const rclcpp_lifecycle::State & /*previous_state*/)
 {
   try
   {
@@ -43,10 +37,18 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
   }
   catch (const std::exception & e)
   {
-    fprintf(stderr, "Exception thrown during configure stage with message: %s \n", e.what());
+    fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
     return controller_interface::CallbackReturn::ERROR;
   }
 
+  return controller_interface::CallbackReturn::SUCCESS;
+}
+
+controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  params_ = param_listener_->get_params();
+
   const bool no_interface_names_defined =
     params_.interface_names.force.x.empty() && params_.interface_names.force.y.empty() &&
     params_.interface_names.force.z.empty() && params_.interface_names.torque.x.empty() &&