Update declare parameters

Signed-off-by: Barış Zeren <[email protected]>
autowarefoundation · Feb 27, 2024 · 1275f6f · 1275f6f
1 parent e8d80c0
commit 1275f6f
Showing 1 changed file with 6 additions and 5 deletions.
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
@@ -83,15 +83,16 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
   declare_parameter("lanelet2_map_path", "");
   declare_parameter("center_line_resolution");
 
-  std::vector<std::string> tmp_lanelet2_paths_or_directory =
-    declare_parameter<std::vector<std::string>>("lanelet2_map_folder_path");
-  std::string tmp_lanelet2_map_metadata_path =
-    declare_parameter<std::string>("lanelet2_map_metadata_path");
   if (declare_parameter<bool>("enabled_dynamic_lanelet_loading")) {
+    std::vector<std::string> lanelet2_paths_or_directory =
+      declare_parameter<std::vector<std::string>>("lanelet2_map_folder_path");
+    std::string lanelet2_map_metadata_path =
+      declare_parameter<std::string>("lanelet2_map_metadata_path");
+
     std::map<std::string, Lanelet2FileMetaData> lanelet2_metadata_dict;
     try {
       lanelet2_metadata_dict = getLanelet2Metadata(
-        tmp_lanelet2_map_metadata_path, getLanelet2Paths(tmp_lanelet2_paths_or_directory));
+        lanelet2_map_metadata_path, getLanelet2Paths(lanelet2_paths_or_directory));
     } catch (std::runtime_error & e) {
       RCLCPP_ERROR_STREAM(get_logger(), "Failed to load lanelet2 metadata");
     }