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[ForceTorqueSensorBroadcaster] Create ParamListener and get parameters on configure (backport #698) #750

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merged 2 commits into from
Dec 5, 2023
Merged

[ForceTorqueSensorBroadcaster] Create ParamListener and get parameters on configure (backport #698) #750

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df051d3
[ForceTorqueSensorBroadcaster] Create ParamListener and get parameter…
Noel215 Aug 18, 2023
ad27118
Fix "parameter is already declared" error
christophfroehlich Dec 5, 2023
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16 changes: 7 additions & 9 deletions force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,12 @@ 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
{
Expand All @@ -37,18 +43,10 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_init()
}
catch (const std::exception & e)
{
fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
fprintf(stderr, "Exception thrown during configure 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() &&
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