Evaluate if the ROS parameters handling can be improved

[christophfroehlich]

There are wrappers for getting ROS parameters with the comment

// TODO(anyone): to-be-removed once this functionality becomes supported by the param API directly

control_toolbox/control_toolbox/src/pid_ros.cpp

Lines 132 to 183 in 4a581e3

	bool PidROS::get_boolean_param(const std::string & param_name, bool & value)
	{
	declare_param(param_name, rclcpp::ParameterValue(value));
	rclcpp::Parameter param;
	if (node_params_->has_parameter(param_name))
	{
	node_params_->get_parameter(param_name, param);
	if (rclcpp::PARAMETER_BOOL != param.get_type())
	{
	RCLCPP_ERROR(
	node_logging_->get_logger(), "Wrong parameter type '%s', not boolean", param_name.c_str());
	return false;
	}
	value = param.as_bool();
	return true;
	}
	else
	{
	return false;
	}
	}
	// TODO(anyone): to-be-removed once this functionality becomes supported by the param API directly
	bool PidROS::get_double_param(const std::string & param_name, double & value)
	{
	declare_param(param_name, rclcpp::ParameterValue(value));
	rclcpp::Parameter param;
	if (node_params_->has_parameter(param_name))
	{
	node_params_->get_parameter(param_name, param);
	if (rclcpp::PARAMETER_DOUBLE != param.get_type())
	{
	RCLCPP_ERROR(
	node_logging_->get_logger(), "Wrong parameter type '%s', not double", param_name.c_str());
	return false;
	}
	value = param.as_double();
	RCLCPP_DEBUG_STREAM(
	node_logging_->get_logger(), "parameter '" << param_name << "' in node '"
	<< node_base_->get_name() << "' value is " << value
	<< std::endl);
	return true;
	}
	else
	{
	RCLCPP_ERROR_STREAM(
	node_logging_->get_logger(), "parameter '" << param_name << "' in node '"
	<< node_base_->get_name() << "' does not exists"
	<< std::endl);
	return false;
	}
	}

Evaluate, if there is already a cleaner way in the rclcpp API. If not, we should consider using generate_parameter_library here, which is already a dependency of this package.

[pedroazeredo04]

Hiii, I would like to try to solve this issue :D

[christophfroehlich]

@pedroazeredo04 Have you explored on this topic?

[pedroazeredo04]

@pedroazeredo04 Have you explored on this topic?

@christophfroehlich I am sorry, to be honest I forgot about this PR. Unfortunately I don’t really have time right now to fix it, so please feel free to let someone else take it over if needed. Really sorry for the inconvenience.

[christophfroehlich]

No worries, I just wanted to ask if I've overseen any PR or discussion somewhere.