simplify parameter initialization

Author: mateusz-lichota

ros2/src/fsds_ros2_bridge/include/airsim_ros_wrapper.h

@@ -80,7 +80,6 @@ class AirsimROSWrapper
 
     void initialize_airsim();
     void initialize_ros();
-    void declare_ros_parameters();
     void publish_track();
     void initialize_statistics();
 

ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp

@@ -111,19 +111,6 @@ void AirsimROSWrapper::publish_track() {
     track_pub->publish(track);
 }
 
-void AirsimROSWrapper::declare_ros_parameters(){
-    nh_private_->declare_parameter<std::string>("mission_name", "");
-    nh_private_->declare_parameter<std::string>("track_name", "");
-    nh_private_->declare_parameter<bool>("competition_mode", false);
-    nh_private_->declare_parameter<bool>("manual_mode", false);
-    nh_private_->declare_parameter<double>("update_odom_every_n_sec", 0.004);
-    nh_private_->declare_parameter<double>("update_gps_every_n_sec", 0.1);
-    nh_private_->declare_parameter<double>("update_imu_every_n_sec", 0.004);
-    nh_private_->declare_parameter<double>("update_gss_every_n_sec", 0.01);
-    nh_private_->declare_parameter<double>("publish_static_tf_every_n_sec", 1.0);
-}
-
-
 void AirsimROSWrapper::initialize_ros()
 {
     // ros params
@@ -134,17 +121,18 @@ void AirsimROSWrapper::initialize_ros()
     double publish_static_tf_every_n_sec;
     bool manual_mode;
 
-    declare_ros_parameters();
-    nh_private_->get_parameter("mission_name", mission_name_);
-    nh_private_->get_parameter("track_name", track_name_);
-    nh_private_->get_parameter("competition_mode", competition_mode_);
-    nh_private_->get_parameter("manual_mode", manual_mode);
+    mission_name_                 = nh_private_->declare_parameter<std::string>("mission_name"                 , "");
+    track_name_                   = nh_private_->declare_parameter<std::string>("track_name"                   , "");
+    competition_mode_             = nh_private_->declare_parameter<bool>       ("competition_mode"             , false);
+    manual_mode                   = nh_private_->declare_parameter<bool>       ("manual_mode"                  , false);
+    update_odom_every_n_sec       = nh_private_->declare_parameter<double>     ("update_odom_every_n_sec"      , 0.004);
+    update_gps_every_n_sec        = nh_private_->declare_parameter<double>     ("update_gps_every_n_sec"       , 0.1);
+    update_imu_every_n_sec        = nh_private_->declare_parameter<double>     ("update_imu_every_n_sec"       , 0.004);
+    update_gss_every_n_sec        = nh_private_->declare_parameter<double>     ("update_gss_every_n_sec"       , 0.01);
+    publish_static_tf_every_n_sec = nh_private_->declare_parameter<double>     ("publish_static_tf_every_n_sec", 1.0);
+
     RCLCPP_INFO_STREAM(nh_private_->get_logger(), "Manual mode: " << manual_mode);
-    nh_private_->get_parameter("update_odom_every_n_sec", update_odom_every_n_sec);
-    nh_private_->get_parameter("update_gps_every_n_sec", update_gps_every_n_sec);
-    nh_private_->get_parameter("update_imu_every_n_sec", update_imu_every_n_sec);
-    nh_private_->get_parameter("update_gss_every_n_sec", update_gss_every_n_sec);
-    nh_private_->get_parameter("publish_static_tf_every_n_sec", publish_static_tf_every_n_sec);
+
 
     create_ros_pubs_from_settings_json();