Update kinematics solver timeout section

moveit · Oct 26, 2019 · 06cfbca · 06cfbca
1 parent 9c8c05c
commit 06cfbca
Showing 1 changed file with 7 additions and 9 deletions.
diff --git a/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
@@ -338,22 +338,20 @@ robot_model::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction(const s
             }
           }
 
-          std::string ksolver_timeout_param_name;
-          if (ksolver_params->has_parameter(base_param_name + "/kinematics_solver_timeout"))
+          std::string ksolver_timeout_param_name = base_param_name + ".kinematics_solver_timeout";
+          if (ksolver_params->has_parameter(ksolver_timeout_param_name))
           {
-            ksolver_timeout_param_name =
-                node_->get_parameter(base_param_name + "/kinematics_solver_timeout").get_value<std::string>();
             double ksolver_timeout;
-            if (ksolver_params->has_parameter(ksolver_timeout_param_name))
+            rclcpp::Parameter parameter = node_->get_parameter(ksolver_timeout_param_name);
+            if (parameter.get_type() == rclcpp::ParameterType::PARAMETER_DOUBLE)
             {
-              ksolver_timeout = node_->get_parameter(ksolver_timeout_param_name).get_value<double>();
+              ksolver_timeout = ksolver_params->get_parameter<double>(ksolver_timeout_param_name);
               ik_timeout_[known_groups[i].name_] = ksolver_timeout;
             }
-            else
+            else if (parameter.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER)
             {  // just in case this is an int
               int ksolver_timeout_i;
-              if (ksolver_params->has_parameter(ksolver_timeout_param_name))
-                ksolver_timeout_i = node_->get_parameter(ksolver_timeout_param_name).get_value<int>();
+              ksolver_timeout = ksolver_params->get_parameter<int>(ksolver_timeout_param_name);
               ik_timeout_[known_groups[i].name_] = ksolver_timeout_i;
             }
           }