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nodehandle parameter

asked 2018-12-05 13:43:40 -0500

zhonghao gravatar image

updated 2018-12-05 13:52:42 -0500

I am reading the tutorial on the website http://wiki.ros.org/roscpp/Overview/P... But I am not sure understand the following the _Default value version_.

ros::NodeHandle nh;
std::string global_name, relative_name, default_param;
if (nh.getParam("/global_name", global_name))
{
 ...
}

if (nh.getParam("relative_name", relative_name))
{
...
}

// Default value version  
nh.param<std::string>("default_param", default_param, "default_value");

So in the _defalut value version_, nh.param does the same function as get parameter? What is the "default_param", default_param, "default_value"? The first "default_param" with double quotation means the name of parameter right? And the default_param without double quotation means: if the nodehandle "default_param" has a value ,then we pass the value to default_param? Otherwise we set the value of default_param to be "default_value" ?

Am I understand this correctly?

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answered 2018-12-05 23:29:47 -0500

hamid gravatar image

updated 2018-12-05 23:30:30 -0500

yes simply this command

nh.param<std::string>("param_name", variable, "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 "value" to variable

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Asked: 2018-12-05 13:43:40 -0500

Seen: 172 times

Last updated: Dec 05 '18