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[ForceTorqueSensorBroadcaster] Create ParamListener and get parameter…
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…s on configure (backport #698) (#750)

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

* Create ParamListener and get parameters on configure

* Declare parameters for test_force_torque_sensor_broadcaster

Since the parameters are not declared on init anymore, they cannot be
set without declaring them before

---------

Co-authored-by: Bence Magyar <[email protected]>
(cherry picked from commit 32aaef7)

* Fix "parameter is already declared" error

---------

Co-authored-by: Noel Jiménez García <[email protected]>
Co-authored-by: Christoph Froehlich <[email protected]>
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3 people authored Dec 5, 2023
1 parent 13ba381 commit 2916b79
Showing 1 changed file with 7 additions and 9 deletions.
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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