Correctif des paramètres du nav_node sur ROS2

Le commit précédent incluant les paramètres n'est pas fonctionnel Signed-off-by: Thomas Bonnefille <[email protected]>
7Robot · Sep 12, 2023 · 806bc95 · 806bc95
1 parent a58304c
commit 806bc95
Showing 1 changed file with 21 additions and 29 deletions.
diff --git a/src/nav_node.cpp b/src/nav_node.cpp
@@ -20,35 +20,27 @@ Nav_node::Nav_node() : Node("nav_node"){
     this->robot_goal.y = -1;
 
     // Get parameters
-    std::string pic_action_topic = "/pic_action";
-    std::string result_topic = "/result";
-    std::string robot_data_topic = "/robot_data";
-    std::string position_goal_topic = "/position_goal";
-    std::string stop_topic = "/stop";
-    this->normal_radius = 0.15;
-    this->variation_obs = 0.10;
-    std::string map_file = "blank.txt";
-    this->goal_tolerance = 10;
-
-    this->declare_parameter("robot_id", -1);
-    this->declare_parameter("pic_action_topic", pic_action_topic);
-    this->declare_parameter("result_topic", result_topic);
-    this->declare_parameter("robot_data_topic", robot_data_topic);
-    this->declare_parameter("position_goal_topic", position_goal_topic);
-    this->declare_parameter("stop_topic", stop_topic);
-    this->declare_parameter("normal_radius", this->normal_radius);
-    this->declare_parameter("variation_obs", this->variation_obs);
-    this->declare_parameter("map_file", map_file);    
-
-    this->get_parameter("robot_id", this->robot_number).as_int();
-    this->get_parameter("pic_action_topic", pic_action_topic).as_string();
-    this->get_parameter("result_topic", result_topic).as_string();
-    this->get_parameter("robot_data_topic", robot_data_topic).as_string();
-    this->get_parameter("position_goal_topic", position_goal_topic).as_string();
-    this->get_parameter("stop_topic", stop_topic).as_string();
-    this->get_parameter("normal_radius", this->normal_radius).as_double();
-    this->get_parameter("variation_obs", this->variation_obs).as_double();
-    this->get_parameter("map_file", this->map_file).as_string();
+    this->goal_tolerance = 0.1;
+
+    this->declare_parameter("robot_id", 0);
+    this->declare_parameter("pic_action_topic", "/pic_action");
+    this->declare_parameter("result_topic", "/result");
+    this->declare_parameter("robot_data_topic", "/robot_data");
+    this->declare_parameter("position_goal_topic", "/position_goal");
+    this->declare_parameter("stop_topic", "/stop");
+    this->declare_parameter("normal_radius", 0.15);
+    this->declare_parameter("variation_obs", 0.10);
+    this->declare_parameter("map_file", "blank.txt");    
+
+    this->robot_number = this->get_parameter("robot_id").as_int();
+    std::string pic_action_topic = this->get_parameter("pic_action_topic").as_string();
+    std::string result_topic = this->get_parameter("result_topic").as_string();
+    std::string robot_data_topic = this->get_parameter("robot_data_topic").as_string();
+    std::string position_goal_topic = this->get_parameter("position_goal_topic").as_string();
+    std::string stop_topic = this->get_parameter("stop_topic").as_string();
+    this->normal_radius = this->get_parameter("normal_radius").as_double();
+    this->variation_obs = this->get_parameter("variation_obs").as_double();
+    this->map_file = this->get_parameter("map_file").as_string();
 
 
     // Ros Pub and Sub