Wrong parameter name in grid_map_pcl

[gmoustri]

The launch file included in grid_map_pcl (grid_map_pcl_loader_node.launch), creates the parameter for the configuration file as:

<param name="configFilePath_" type="string" value="$(arg configFilePath_)" />

in line 21. This seems to be wrong. The function "std::string getParameterPath" in "helper.cpp" which reads the variable pointing to the param file, contains the following code:

Line 47
nh.param<std::string>("config_file_path", pathToConfig, defaultPath);

Apparently it reads the "config_file_path" parameter, not "configFilePath_". Thus, if you change the parameter filename, it will never be read. The simplest solution is to change the variable name in the launch file as follows;

<param name="configFilePath_" type="string" value="$(arg configFilePath_)" />
to
<param name="config_file_path" type="string" value="$(arg configFilePath_)" />

This seems to work on my machine (Ubuntu 20.04)