Fixed crash due to already declared parameters

ros-perception · Dec 11, 2023 · 6490198 · 6490198
1 parent 1bafc35
commit 6490198
Showing 1 changed file with 9 additions and 5 deletions.
diff --git a/draco_point_cloud_transport/src/draco_subscriber.cpp b/draco_point_cloud_transport/src/draco_subscriber.cpp
@@ -47,11 +47,15 @@ namespace draco_point_cloud_transport
 {
 void DracoSubscriber::declareParameters()
 {
-  declareParam<bool>(std::string("SkipDequantizationPOSITION"), false);
-  declareParam<bool>(std::string("SkipDequantizationNORMAL"), false);
-  declareParam<bool>(std::string("SkipDequantizationCOLOR"), false);
-  declareParam<bool>(std::string("SkipDequantizationTEX_COORD"), false);
-  declareParam<bool>(std::string("SkipDequantizationGENERIC"), false);
+  try{
+    declareParam<bool>(std::string("SkipDequantizationPOSITION"), false);
+    declareParam<bool>(std::string("SkipDequantizationNORMAL"), false);
+    declareParam<bool>(std::string("SkipDequantizationCOLOR"), false);
+    declareParam<bool>(std::string("SkipDequantizationTEX_COORD"), false);
+    declareParam<bool>(std::string("SkipDequantizationGENERIC"), false);
+  } catch (rclcpp::exceptions::ParameterAlreadyDeclaredException & e) {
+    RCLCPP_DEBUG(this->getLogger(), e.what());
+  }
 
   auto param_change_callback =
     [this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult