Use default param values for warehouse port, host and plugin name

moveit · Oct 13, 2020 · 63668cb · 63668cb
1 parent 506449f
commit 63668cb
Showing 1 changed file with 5 additions and 9 deletions.
diff --git a/src/database_loader.cpp b/src/database_loader.cpp
@@ -79,7 +79,7 @@ typename DatabaseConnection::Ptr DatabaseLoader::loadDatabase()
   // if (!nh_.searchParam("warehouse_plugin", paramName))
   paramName = "warehouse_plugin";
   string db_plugin;
-  if (!node_->get_parameter(paramName, db_plugin))
+  if (!node_->get_parameter_or(paramName, db_plugin, std::string("warehouse_ros_mongo::MongoDatabaseConnection")))
   {
     RCLCPP_ERROR(LOGGER, "Could not find parameter for database plugin name");
     return typename DatabaseConnection::Ptr(new DBConnectionStub());
@@ -104,19 +104,15 @@ typename DatabaseConnection::Ptr DatabaseLoader::loadDatabase()
   // if (!nh_.searchParam("warehouse_host", paramName))
   paramName = "warehouse_host";
   std::string host;
-  if (node_->get_parameter(paramName, host))
-  {
-    hostFound = true;
-  }
+  node_->get_parameter_or(paramName, host, std::string("localhost"));
+  hostFound = true;
 
   // TODO: Revise parameter lookup
   // if (!nh_.searchParam("warehouse_port", paramName))
   paramName = "warehouse_port";
   int port;
-  if (node_->get_parameter(paramName, port))
-  {
-    portFound = true;
-  }
+  node_->get_parameter_or(paramName, port, 33829);
+  portFound = true;
 
   if (hostFound && portFound)
   {