Use fuse_core::getPositiveParam for TF durations

locusrobotics · Dec 5, 2020 · 2a8a7c5 · 2a8a7c5
1 parent 846976f
commit 2a8a7c5
Showing 1 changed file with 2 additions and 7 deletions.
diff --git a/fuse_models/include/fuse_models/parameters/odometry_2d_publisher_params.h b/fuse_models/include/fuse_models/parameters/odometry_2d_publisher_params.h
@@ -84,13 +84,8 @@ struct Odometry2DPublisherParams : public ParameterBase
 
     fuse_core::getPositiveParam(nh, "covariance_throttle_period", covariance_throttle_period, false);
 
-    double tf_cache_time_double = tf_cache_time.toSec();
-    nh.getParam("tf_cache_time", tf_cache_time_double);
-    tf_cache_time.fromSec(tf_cache_time_double);
-
-    double tf_timeout_double = tf_timeout.toSec();
-    nh.getParam("tf_timeout", tf_timeout_double);
-    tf_timeout.fromSec(tf_timeout_double);
+    fuse_core::getPositiveParam(nh, "tf_cache_time", tf_cache_time, false);
+    fuse_core::getPositiveParam(nh, "tf_timeout", tf_timeout, false);
 
     nh.getParam("queue_size", queue_size);