Ros Parameters

When designing your own component, it will often happen that you will need to load many parameter for a specific component (e.g. model parameters).

In order to simplify parameter loading, we recommend to use the following setup:

1. Create a struct containing all your parameter information (e.g. pid_controller_params.h)

2. Instantiate a template of the function T getConfig(const ros::NodeHandle& nh) located at ros/ros_crs_utils/include/ros_crs_utils/parameter_io.h.
   Example:

   template <>
   pid_controller_params getConfig<pid_controller_params>(const ros::NodeHandle& nh)
   {
     pid_controller_params p;
     if(!nh.getParam("K", p.K))
        ROS_WARN_STREAM("Did not load K parameter")
     // ....
     return p
   }
   

3. Whenever you need to load the parameters, use

   #include <ros_crs_utils/parameter_io.h>
   // ...
   // Using absolute namespace
   auto params =  parameter_io::getConfig<>(ros::NodeHandle("ParameterNamespace"));
   // Using relative namespace to nodehandle nh
   auto params =  parameter_io::getConfig<>(ros::NodeHandle(nh, "ParameterNamespace"));