Handle parameter already declared exception

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
ros2 · Nov 3, 2021 · b0001fa · b0001fa
1 parent 82896d3
commit b0001fa
Showing 1 changed file with 10 additions and 5 deletions.
diff --git a/rviz_default_plugins/src/rviz_default_plugins/transformation/tf_wrapper.cpp b/rviz_default_plugins/src/rviz_default_plugins/transformation/tf_wrapper.cpp
@@ -142,11 +142,16 @@ void TFWrapper::initializeBuffer(
   rcl_interfaces::msg::ParameterDescriptor descriptor;
   descriptor.description = "Configure the rviz tf buffer cache time [ms].";
   descriptor.read_only = true;
-  auto cache_time_ms = node->declare_parameter<int64_t>(
-    "tf_buffer_cache_time_ms",
-    std::chrono::duration_cast<std::chrono::milliseconds>(
-      tf2::BUFFER_CORE_DEFAULT_CACHE_TIME).count(),
-    descriptor);
+  int64_t cache_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(
+    tf2::BUFFER_CORE_DEFAULT_CACHE_TIME).count();
+  try {
+    cache_time_ms = node->declare_parameter<int64_t>(
+      "tf_buffer_cache_time_ms",
+      cache_time_ms,
+      descriptor);
+  } catch (rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
+    node->get_parameter<int64_t>("tf_buffer_cache_time_ms", cache_time_ms);
+  }
   if (cache_time_ms < 0) {
     RCLCPP_WARN(
       node->get_logger(),