parameters.hpp

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#ifndef NAV_2D_UTILS__PARAMETERS_HPP_
#define NAV_2D_UTILS__PARAMETERS_HPP_
 
#include <string>
#include <memory>
 
#include "rclcpp/rclcpp.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_util/node_utils.hpp"
 
// TODO(crdelsey): Remove when code is re-enabled
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-parameter"
namespace nav_2d_utils
{
 
template<class param_t>
param_t searchAndGetParam(
  const nav2_util::LifecycleNode::SharedPtr & nh, const std::string & param_name,
  const param_t & default_value)
{
  nav2_util::declare_parameter_if_not_declared(
    nh, param_name,
    rclcpp::ParameterValue(default_value));
  return nh->get_parameter(param_name).get_value<param_t>();
}
 
}  // namespace nav_2d_utils
#pragma GCC diagnostic pop
 
#endif  // NAV_2D_UTILS__PARAMETERS_HPP_