Method condParam

include/patchwork/patchwork.hpp:142–162

  template <typename T>
  bool condParam(ros::NodeHandle *nh,
                 const std::string &param_name,
                 T &param_val,
                 const T &default_val,
                 const std::string &prefix = "/patchwork") const {
    if (nh->hasParam(prefix + "/" + param_name)) {
      if (nh->getParam(prefix + "/" + param_name, param_val)) {
        ROS_INFO_STREAM("param '" << prefix << "/" << param_name << "' -> '" << param_val << "'");
        return true;
      }
    } else if (nh->hasParam(ros::this_node::getName() + "/" + param_name)) {
      if (nh->getParam(ros::this_node::getName() + "/" + param_name, param_val)) {
        ROS_INFO_STREAM("param '" << ros::this_node::getName() << "/" << param_name << "' -> '"
                                  << param_val << "'");
        return true;
      }
    }
    param_val = default_val;
    ROS_INFO_STREAM("param '" << param_name << "' -> '" << param_val << "' (default)");
    return false;
  }

  explicit PatchWork(ros::NodeHandle *nh) {
    // Init ROS related