path follower get_parameter fixed

src/rktl_planner/rktl_planner/nodes/path_follower.py

@@ -34,24 +34,23 @@ def __init__(self):
         self.start_time = None
         self.max_speed = None
 
-        self.frame_id = node.declare_parameter('~frame_id', 'map')
+        self.frame_id = node.get_parameter_or('~frame_id', rclpy.Parameter('map')).get_parameter_value().string_value
 
         # Max speed to travel path
-        self.max_speed = node.declare_parameter('~max_speed', 0.1)
+        self.max_speed = node.get_parameter_or('~max_speed', rclpy.Parameter(0.1)).get_parameter_value().double_value
 
         # Radius to search for intersections
-        self.lookahead_dist = node.declare_parameter('~lookahead_dist', 0.15)
+        self.lookahead_dist = node.get_parameter_or('~lookahead_dist', rclpy.Parameter(0.15)).get_parameter_value().double_value
 
         # Coeffient to adjust lookahead distance by speed
-        self.lookahead_gain = node.declare_parameter('~lookahead_gain', 0.035)
+        self.lookahead_gain = node.get_parameter_or('~lookahead_gain', rclpy.Parameter(.055)).get_parameter_value().double_value
 
         # Number of waypoints to search per pass (-1 is full path)
-        self.lookahead_pnts = node.declare_parameter('~lookahead_pnts', -1)
+        self.lookahead_pnts = node.get_parameter_or('~lookahead_pnts', rclpy.Parameter(-1)).get_parameter_value().integer_value
 
         # Publishers
-        car_name = node.declare_parameter('~car_name')
-        self.bot_velocity_cmd = node.create_publisher(ControlCommand, f'/cars/{car_name}/command', 1)
-
+        car_name = node.get_parameter('~car_name').get_parameter_value().string_value
+
         # Subscribers
         node.create_subscription(Odometry, f'/cars/{car_name}/odom', self.odom_cb, qos_profile=1)
         node.create_subscription(Path, 'linear_path', self.path_cb, qos_profile=1)