From 63668cb0e4858de37f69c900c214001bf69287e7 Mon Sep 17 00:00:00 2001 From: RoboticsYY Date: Tue, 13 Oct 2020 17:22:44 +0800 Subject: [PATCH] Use default param values for warehouse port, host and plugin name --- src/database_loader.cpp | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/src/database_loader.cpp b/src/database_loader.cpp index 59ec9d9..55bd175 100644 --- 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) {