Get parameter on initialize (rebased version of #893) (#996)

Get parameter `trajectory_execution.execution_duration_monitoring` in initialize(). Co-authored-by: Gaël Écorchard <gael.ecorchard@cvut.cz>
moveit · Feb 7, 2022 · 3b5efca · 3b5efca
1 parent d7a3504
commit 3b5efca
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
@@ -181,6 +181,8 @@ void TrajectoryExecutionManager::initialize()
       EXECUTION_EVENT_TOPIC, 100, std::bind(&TrajectoryExecutionManager::receiveEvent, this, std::placeholders::_1),
       options);
 
+  controller_mgr_node_->get_parameter("trajectory_execution.execution_duration_monitoring",
+                                      execution_duration_monitoring_);
   controller_mgr_node_->get_parameter("trajectory_execution.allowed_execution_duration_scaling",
                                       allowed_execution_duration_scaling_);
   controller_mgr_node_->get_parameter("trajectory_execution.allowed_goal_duration_margin",