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fix getParam to return value #93

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fix getParam to return value #93

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20 changes: 10 additions & 10 deletions include/filters/filter_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -149,21 +149,21 @@ class FilterBase

if (!params_interface_->has_parameter(param_name)) {
// Declare parameter
rclcpp::ParameterValue default_parameter_value(default_value);
if (name.empty()) {
throw std::runtime_error("Parameter must have a name");
}
rcl_interfaces::msg::ParameterDescriptor desc;
desc.name = name;
desc.type = type;
desc.read_only = read_only;

if (name.empty()) {
throw std::runtime_error("Parameter must have a name");
}

params_interface_->declare_parameter(param_name, default_parameter_value, desc);
params_interface_->declare_parameter(param_name, rclcpp::ParameterType(type), desc);
}

value_out = params_interface_->get_parameter(param_name).get_parameter_value().get<PT>();
// TODO(sloretz) seems to be no way to tell if parameter was initialized or not
rclcpp::Parameter param_value;
if (!params_interface_->get_parameter(param_name, param_value)) {
value_out = default_value;
return false;
}
value_out = param_value.get_parameter_value().get<PT>();
return true;
}

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