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parameter::ParameterVariant -> Parameter #28

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Jun 4, 2018
Merged

parameter::ParameterVariant -> Parameter #28

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15 changes: 6 additions & 9 deletions amcl/src/amcl_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -791,15 +791,12 @@ void AmclNode::savePoseToServer()

auto set_parameters_results = node->set_parameters_atomically(
{
rclcpp::parameter::ParameterVariant("initial_pose_x", map_pose.getOrigin().x()),
rclcpp::parameter::ParameterVariant("initial_pose_y", map_pose.getOrigin().y()),
rclcpp::parameter::ParameterVariant("initial_pose_a", yaw),
rclcpp::parameter::ParameterVariant("initial_cov_xx",
last_published_pose.pose.covariance[6*0+0]),
rclcpp::parameter::ParameterVariant("initial_cov_yy",
last_published_pose.pose.covariance[6*1+1]),
rclcpp::parameter::ParameterVariant("initial_cov_yy",
last_published_pose.pose.covariance[6*5+5]),
rclcpp::Parameter("initial_pose_x", map_pose.getOrigin().x()),
rclcpp::Parameter("initial_pose_y", map_pose.getOrigin().y()),
rclcpp::Parameter("initial_pose_a", yaw),
rclcpp::Parameter("initial_cov_xx", last_published_pose.pose.covariance[6*0+0]),
rclcpp::Parameter("initial_cov_yy", last_published_pose.pose.covariance[6*1+1]),
rclcpp::Parameter("initial_cov_yy", last_published_pose.pose.covariance[6*5+5]),
}
);
if (!set_parameters_results.successful) {
Expand Down