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yes simply this command

nh.param<std::string>("param_name", variable, 100);

checks if param_name is exist the the command pass the value of param in variable but if the param doesn't exist then the command pass 100 to variable

yes simply this command

nh.param<std::string>("param_name", variable, 100);
"value");

checks if param_name is exist the the command pass the value of param in variable but if the param doesn't exist then the command pass 100 "value" to variable