Use fuse_core::getPositiveParam for all ros::Duration parameters #212
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efernandez
commented
Nov 30, 2020
| 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); |
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I've also used fuse_core::getPositiveParam for these two, that didn't required the input to be positive.
I believe they must be positive, and I've allowed 0.0 because:
- tf_cache_time: A TF buffer with a time cache that only spans for
0.0seconds probably doesn't make much sense. I believe in this case only the latest transform is kept in the buffer. - tf_timeout: A
lookupTransformwith0.0timeout will simply not wait for the transform to be available.
If you don't agree with any of this, I'm happy to change it.
svwilliams
approved these changes
Nov 30, 2020
| 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); |
ayrton04
approved these changes
Dec 4, 2020
|
Looks like this needs a rebase. |
efernandez
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When I tried to use
fuse_core::getPositiveParamfor allros::Durationparameters before, I searched for_sec, so I missed a few spots where we use_doubleinstead. Now allros::Durationparameters make use of the newfuse_core::getPositiveParamthat supportsros::Duration.