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How do you retrieve the ref object in your code. I don't see you accessing the parameters at all. The launch file is fine; in you code do something like:

ros::NodeHandle nh("~");
double ref_x;
nh.getParam("ref.x", ref_x);
destination[1] = ref_x;

How do you retrieve the ref object in your code. I don't see you accessing the parameters at all. The launch file is fine; in you code do something like:

ros::NodeHandle nh("~");
double ref_x;
nh.getParam("ref.x", ref_x);
destination[1] = ref_x;

Edit: Best read up on retrieving parameters in the wiki.