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Allow default values even if axis_linear is defined #34

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Allow default values even if axis_linear is defined #34

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32 changes: 8 additions & 24 deletions src/teleop_twist_joy.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,30 +74,14 @@ TeleopTwistJoy::TeleopTwistJoy(ros::NodeHandle* nh, ros::NodeHandle* nh_param)
nh_param->param<int>("enable_button", pimpl_->enable_button, 0);
nh_param->param<int>("enable_turbo_button", pimpl_->enable_turbo_button, -1);

if (nh_param->getParam("axis_linear", pimpl_->axis_linear_map))
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@dave992 this checks if the param is a map .

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It however does not ensure that all parameters of the map are set (in this case scale_linear and scale_linear_turbo), or alternatively provide any default value in case they are missing.

In teleop_ps4.yaml it only sets the yaw axis for example. It then does check for both scale_linear and scale_linear_turbo, but as they do not exist they use the value resulting from the initialization of the pimpl_ object. This does not correspond to the default values that are used when the axis_linear is not set.

{
nh_param->getParam("scale_linear", pimpl_->scale_linear_map["normal"]);
nh_param->getParam("scale_linear_turbo", pimpl_->scale_linear_map["turbo"]);
}
else
{
nh_param->param<int>("axis_linear", pimpl_->axis_linear_map["x"], 1);
nh_param->param<double>("scale_linear", pimpl_->scale_linear_map["normal"]["x"], 0.5);
nh_param->param<double>("scale_linear_turbo", pimpl_->scale_linear_map["turbo"]["x"], 1.0);
}

if (nh_param->getParam("axis_angular", pimpl_->axis_angular_map))
{
nh_param->getParam("scale_angular", pimpl_->scale_angular_map["normal"]);
nh_param->getParam("scale_angular_turbo", pimpl_->scale_angular_map["turbo"]);
}
else
{
nh_param->param<int>("axis_angular", pimpl_->axis_angular_map["yaw"], 0);
nh_param->param<double>("scale_angular", pimpl_->scale_angular_map["normal"]["yaw"], 0.5);
nh_param->param<double>("scale_angular_turbo",
pimpl_->scale_angular_map["turbo"]["yaw"], pimpl_->scale_angular_map["normal"]["yaw"]);
}
nh_param->param<int>("axis_linear", pimpl_->axis_linear_map["x"], 1);
nh_param->param<double>("scale_linear", pimpl_->scale_linear_map["normal"]["x"], 0.5);
nh_param->param<double>("scale_linear_turbo", pimpl_->scale_linear_map["turbo"]["x"], 1.0);

nh_param->param<int>("axis_angular", pimpl_->axis_angular_map["yaw"], 0);
nh_param->param<double>("scale_angular", pimpl_->scale_angular_map["normal"]["yaw"], 0.5);
nh_param->param<double>("scale_angular_turbo",
pimpl_->scale_angular_map["turbo"]["yaw"], pimpl_->scale_angular_map["normal"]["yaw"]);

ROS_INFO_NAMED("TeleopTwistJoy", "Teleop enable button %i.", pimpl_->enable_button);
ROS_INFO_COND_NAMED(pimpl_->enable_turbo_button >= 0, "TeleopTwistJoy",
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