Parameters backward compatibility: check for typed parameters (not only string)

src/CoreWrapper.cpp

@@ -305,14 +305,34 @@ void CoreWrapper::onInit()
 		++iter)
 	{
 		std::string vStr;
+		bool vBool;
+		int vInt;
+		double vDouble;
+		std::string paramValue;
 		if(pnh.getParam(iter->first, vStr))
+		{
+			paramValue = vStr;
+		}
+		else if(pnh.getParam(iter->first, vBool))
+		{
+			paramValue = uBool2Str(vBool);
+		}
+		else if(pnh.getParam(iter->first, vDouble))
+		{
+			paramValue = uNumber2Str(vDouble);
+		}
+		else if(pnh.getParam(iter->first, vInt))
+		{
+			paramValue = uNumber2Str(vInt);
+		}
+		if(!paramValue.empty())
 		{
 			if(iter->second.first)
 			{
 				// can be migrated
-				uInsert(parameters_, ParametersPair(iter->second.second, vStr));
+				uInsert(parameters_, ParametersPair(iter->second.second, paramValue));
 				NODELET_WARN("Rtabmap: Parameter name changed: \"%s\" -> \"%s\". Please update your launch file accordingly. Value \"%s\" is still set to the new parameter name.",
-						iter->first.c_str(), iter->second.second.c_str(), vStr.c_str());
+						iter->first.c_str(), iter->second.second.c_str(), paramValue.c_str());
 			}
 			else
 			{

src/nodelets/obstacles_detection.cpp

@@ -129,14 +129,34 @@ private:
 			++iter)
 		{
 			std::string vStr;
+			bool vBool;
+			int vInt;
+			double vDouble;
+			std::string paramValue;
 			if(pnh.getParam(iter->first, vStr))
+			{
+				paramValue = vStr;
+			}
+			else if(pnh.getParam(iter->first, vBool))
+			{
+				paramValue = uBool2Str(vBool);
+			}
+			else if(pnh.getParam(iter->first, vDouble))
+			{
+				paramValue = uNumber2Str(vDouble);
+			}
+			else if(pnh.getParam(iter->first, vInt))
+			{
+				paramValue = uNumber2Str(vInt);
+			}
+			if(!paramValue.empty())
 			{
 				if(iter->second.first)
 				{
 					// can be migrated
-					uInsert(parameters, rtabmap::ParametersPair(iter->second.second, vStr));
+					uInsert(parameters, rtabmap::ParametersPair(iter->second.second, paramValue));
 					NODELET_ERROR("obstacles_detection: Parameter name changed: \"%s\" -> \"%s\". Please update your launch file accordingly. Value \"%s\" is still set to the new parameter name.",
-							iter->first.c_str(), iter->second.second.c_str(), vStr.c_str());
+							iter->first.c_str(), iter->second.second.c_str(), paramValue.c_str());
 				}
 				else
 				{