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2017-09-12 20:17:09 -0600 marked best answer getParam a nested std::map

I am writing a node that will read a YAML file (loaded from roslaunch) with the following structure:

home:
  1:
    "x": 0.0
    "y": 0.0
    "z": 0.0
    "qx": 0.0
    "qy": 0.0
    "qz": 0.0
    "qw": 0.0
  2:
    "x": 0.0
    "y": 0.0
    "z": 0.0
    "qx": 0.0
    "qy": 0.0
    "qz": 0.0
    "qw": 0.0

This is the relevant code on the node side:

class RouteParserNode
{
    public:
        RouteParserNode() :
            nh_private_("~")
        {
            nh_private_.getParam("home", route_home);
        };
        ~RouteParserNode();
     private:
        std::map<int, std::map<std::string, double>> route_home;
        ros::NodeHandle nh_private_;
};

However, the above node cannot be compiled and gives the following error:

error: no matching function for call to ‘ros::NodeHandle::getParam(const char 
[5], std::map<int, std::map<std::basic_string<char>, double> >&)’
             nh_private_.getParam("home", route_home);

which I assume is because getParam does not work for nested std::maps.

I am currently on ROS Indigo.

Is there a workaround for this, or another way for me to parse the file? My ultimate goal is to supply a list of goals (geometry_msgs/PoseStamped, but only primitive types were allowed for the std::map method hence the above yaml structure).

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2017-07-11 05:43:32 -0600 asked a question getParam a nested std::map

getParam a nested std::map I am writing a node that will read a YAML file (loaded from roslaunch) with the following str

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