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Merge master->ros2 (fixed #674)

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matlabbe
2021-11-03 12:05:28 -04:00
parent f54404812f 70bc399907
commit ab1288cccc
8 changed files with 67 additions and 32 deletions
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src/OdometryROS.cpp
+6 -1
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@@ -291,7 +291,12 @@ void OdometryROS::init(bool stereoParams, bool visParams, bool icpParams)
if(get_parameter(iter->first, parameter))
{
std::string vStr = parameter.as_string();
if(iter->second.first && parameters_.find(iter->second.second) != parameters_.end())
if(!iter->second.second.empty() && parameters_.find(iter->second.second)!=parameters_.end())
{
RCLCPP_WARN(this->get_logger(), "Odometry: Parameter name changed: \"%s\" -> \"%s\". The new parameter is already used with value \"%s\", ignoring the old one with value \"%s\".",
iter->first.c_str(), iter->second.second.c_str(), parameters_.find(iter->second.second)->second.c_str(), vStr.c_str());
}
else if(iter->second.first && parameters_.find(iter->second.second) != parameters_.end())
{
// can be migrated
parameters_.at(iter->second.second)= vStr;