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Remove try-catch blocks around declare_parameter (#663)
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Try-catches were added in #631 due to a new rclcpp feature enforcing static parameter.
The behavior was later patched for this particular use-case in ros2/rclcpp#1673, so now we can avoid having to try-catch.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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@jacobperron @SteveMacenski
jacobperron authored and SteveMacenski committed May 24, 2021
1 parent b66650e commit bc4eabf
Showing 1 changed file with 13 additions and 52 deletions.
65 changes: 13 additions & 52 deletions src/ros_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -819,10 +819,7 @@ void RosFilter<T>::loadParams()
// Try to resolve tf_prefix
std::string tf_prefix = "";
std::string tf_prefix_path = "";
try {
this->declare_parameter<std::string>("tf_prefix");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::string>("tf_prefix");
if (this->get_parameter("tf_prefix", tf_prefix_path)) {
// Append the tf prefix in a tf2-friendly manner
filter_utilities::appendPrefix(tf_prefix, map_frame_id_);
Expand Down Expand Up @@ -890,10 +887,7 @@ void RosFilter<T>::loadParams()
control_timeout = this->declare_parameter("control_timeout", 0.0);

if (use_control_) {
try {
this->declare_parameter<std::vector<bool>>("control_config");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::vector<bool>>("control_config");
if (this->get_parameter("control_config", control_update_vector)) {
if (control_update_vector.size() != TWIST_SIZE) {
std::cerr << "Control configuration must be of size " << TWIST_SIZE <<
Expand All @@ -909,10 +903,7 @@ void RosFilter<T>::loadParams()
use_control_ = false;
}

try {
this->declare_parameter<std::vector<double>>("acceleration_limits");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::vector<double>>("acceleration_limits");
if (this->get_parameter("acceleration_limits", acceleration_limits)) {
if (acceleration_limits.size() != TWIST_SIZE) {
std::cerr << "Acceleration configuration must be of size " << TWIST_SIZE <<
Expand All @@ -928,10 +919,7 @@ void RosFilter<T>::loadParams()
acceleration_limits.resize(TWIST_SIZE, 1.0);
}

try {
this->declare_parameter<std::vector<double>>("acceleration_gains");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::vector<double>>("acceleration_gains");
if (this->get_parameter("acceleration_gains", acceleration_gains)) {
const int size = acceleration_gains.size();
if (size != TWIST_SIZE) {
Expand All @@ -945,10 +933,7 @@ void RosFilter<T>::loadParams()
}
}

try {
this->declare_parameter<std::vector<double>>("deceleration_limits");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::vector<double>>("deceleration_limits");
if (this->get_parameter("deceleration_limits", deceleration_limits)) {
if (deceleration_limits.size() != TWIST_SIZE) {
std::cerr << "Deceleration configuration must be of size " << TWIST_SIZE <<
Expand All @@ -964,10 +949,7 @@ void RosFilter<T>::loadParams()
deceleration_limits = acceleration_limits;
}

try {
this->declare_parameter<std::vector<double>>("deceleration_gains");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::vector<double>>("deceleration_gains");
if (this->get_parameter("deceleration_gains", deceleration_gains)) {
const int size = deceleration_gains.size();
if (size != TWIST_SIZE) {
Expand Down Expand Up @@ -999,10 +981,7 @@ void RosFilter<T>::loadParams()
dynamic_process_noise_covariance);

std::vector<double> initial_state;
try {
this->declare_parameter<std::vector<double>>("initial_state");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::vector<double>>("initial_state");
if (this->get_parameter("initial_state", initial_state)) {
if (initial_state.size() != STATE_SIZE) {
std::cerr << "Initial state must be of size " << STATE_SIZE <<
Expand Down Expand Up @@ -1091,10 +1070,7 @@ void RosFilter<T>::loadParams()
ss << "odom" << topic_ind++;
std::string odom_topic_name = ss.str();
std::string odom_topic;
try {
this->declare_parameter<std::string>(odom_topic_name);
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::string>(odom_topic_name);

rclcpp::Parameter parameter;
if (this->get_parameter(odom_topic_name, parameter)) {
Expand Down Expand Up @@ -1244,10 +1220,7 @@ void RosFilter<T>::loadParams()
ss << "pose" << topic_ind++;
std::string pose_topic_name = ss.str();
std::string pose_topic;
try {
this->declare_parameter<std::string>(pose_topic_name);
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::string>(pose_topic_name);

rclcpp::Parameter parameter;
if (this->get_parameter(pose_topic_name, parameter)) {
Expand Down Expand Up @@ -1364,10 +1337,7 @@ void RosFilter<T>::loadParams()
ss << "twist" << topic_ind++;
std::string twist_topic_name = ss.str();
std::string twist_topic;
try {
this->declare_parameter<std::string>(twist_topic_name);
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::string>(twist_topic_name);

rclcpp::Parameter parameter;
if (this->get_parameter(twist_topic_name, parameter)) {
Expand Down Expand Up @@ -1448,10 +1418,7 @@ void RosFilter<T>::loadParams()
ss << "imu" << topic_ind++;
std::string imu_topic_name = ss.str();
std::string imu_topic;
try {
this->declare_parameter<std::string>(imu_topic_name);
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::string>(imu_topic_name);

rclcpp::Parameter parameter;
if (this->get_parameter(imu_topic_name, parameter)) {
Expand Down Expand Up @@ -1760,10 +1727,7 @@ void RosFilter<T>::loadParams()
process_noise_covariance.setZero();
std::vector<double> process_noise_covar_flat;

try {
this->declare_parameter<std::vector<double>>("process_noise_covariance");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::vector<double>>("process_noise_covariance");
if (this->get_parameter(
"process_noise_covariance",
process_noise_covar_flat))
Expand All @@ -1790,10 +1754,7 @@ void RosFilter<T>::loadParams()
initial_estimate_error_covariance.setZero();
std::vector<double> estimate_error_covar_flat;

try {
this->declare_parameter<std::vector<double>>("initial_estimate_covariance");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
this->declare_parameter<std::vector<double>>("initial_estimate_covariance");
if (this->get_parameter(
"initial_estimate_covariance",
estimate_error_covar_flat))
Expand Down

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