Helper functions for geometry_msgs::Vector3 and std_msgs::ColorRGBA

README.md

@@ -63,6 +63,9 @@ example:
   param6: [2, 2, 2, 1, 0, 0, 0] # Eigen::Isometry3d - x, y, z, qw, qx, qy, qz
   param7: [1, 1, 1, 3.14, 0, 0] # geometry_msgs::Pose - x, y, z, roll, pitch, yaw
   param8: [2, 2, 2, 1, 0, 0, 0] # geometry_msgs::Pose - x, y, z, qw, qx, qy, qz
+  param9: [1, 2, 3] # geometry_msgs::Vector3 - x, y, z
+  param10: [25, 20, 200, 0.8] # std_msgs::ColorRGBA - r, g, b, a
+
 ```
 
 ## Testing and Linting

config/example.yaml

@@ -8,3 +8,5 @@ example:
   param6: [2, 2, 2, 1, 0, 0, 0] # Eigen::Isometry3d - x, y, z, qw, qx, qy, qz
   param7: [1, 1, 1, 3.14, 0, 0] # geometry_msgs::Pose - x, y, z, roll, pitch, yaw
   param8: [2, 2, 2, 1, 0, 0, 0] # geometry_msgs::Pose - x, y, z, qw, qx, qy, qz
+  param9: [1, 2, 3] # geometry_msgs::Vector3 - x, y, z
+  param10: [25, 20, 200, 0.8] # std_msgs::ColorRGBA - r, g, b, a

include/rosparam_shortcuts/rosparam_shortcuts.h

@@ -56,6 +56,12 @@
 // geometry_msgs/Pose
 #include <geometry_msgs/Pose.h>
 
+// geometry_msgs/Vector3
+#include <geometry_msgs/Vector3.h>
+
+// std_msgs/ColorRGBA
+#include <std_msgs/ColorRGBA.h>
+
 namespace rosparam_shortcuts
 {
 // -------------------------------------------------------------------------------------------------
@@ -99,6 +105,13 @@ bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::s
 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
          geometry_msgs::Pose &value);
 
+bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
+         geometry_msgs::Vector3 &value);
+
+bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
+         std_msgs::ColorRGBA &value);
+
+
 /**
  * \brief Output a string of values from an array for debugging
  * \param array of values

src/example.cpp

@@ -66,6 +66,8 @@ int main(int argc, char** argv)
   Eigen::Isometry3d param6;
   geometry_msgs::Pose param7;
   geometry_msgs::Pose param8;
+  geometry_msgs::Vector3 param9;
+  std_msgs::ColorRGBA param10;
 
   // Load rosparams
   ros::NodeHandle rpnh(nh, name);
@@ -79,6 +81,8 @@ int main(int argc, char** argv)
   error += !rosparam_shortcuts::get(name, rpnh, "param6", param6);              // Isometry3d param
   error += !rosparam_shortcuts::get(name, rpnh, "param7", param7);              // geometry_msgs::Pose param
   error += !rosparam_shortcuts::get(name, rpnh, "param8", param8);              // geometry_msgs::Pose param
+  error += !rosparam_shortcuts::get(name, rpnh, "param9", param9);              // geometry_msgs::Vector3 param
+  error += !rosparam_shortcuts::get(name, rpnh, "param10", param10);              // std_msgs::ColorRGBA param
   // add more parameters here to load if desired
   rosparam_shortcuts::shutdownIfError(name, error);
 
@@ -93,6 +97,8 @@ int main(int argc, char** argv)
   ROS_INFO_STREAM_NAMED(name, "param6: Translation:\n" << param6.translation());
   ROS_INFO_STREAM_NAMED(name, "param7: Pose:\n" << param7);
   ROS_INFO_STREAM_NAMED(name, "param8: Pose:\n" << param8);
+  ROS_INFO_STREAM_NAMED(name, "param9: Vector:\n" << param9);
+  ROS_INFO_STREAM_NAMED(name, "param10: ColorRGBA:\n" << param10);
   ROS_INFO_STREAM_NAMED(name, "Shutting down.");
   ros::shutdown();