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Declare params using api with default value #19

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Declare params using api with default value #19

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a85520a
Declare params using api with default value
chenjunnn Jul 9, 2022
2c3a38e
Fix some type errors
chenjunnn Jul 9, 2022
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85 changes: 23 additions & 62 deletions src/ydlidar_ros2_driver_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,113 +40,74 @@ int main(int argc, char *argv[]) {
RCLCPP_INFO(node->get_logger(), "[YDLIDAR INFO] Current ROS Driver Version: %s\n", ((std::string)ROS2Verision).c_str());

CYdLidar laser;
std::string str_optvalue = "/dev/ydlidar";
node->declare_parameter("port");
node->get_parameter("port", str_optvalue);
///lidar port
std::string str_optvalue = node->declare_parameter("port", "/dev/ydlidar");
laser.setlidaropt(LidarPropSerialPort, str_optvalue.c_str(), str_optvalue.size());

///ignore array
str_optvalue = "";
node->declare_parameter("ignore_array");
node->get_parameter("ignore_array", str_optvalue);
str_optvalue = node->declare_parameter("ignore_array", "");
laser.setlidaropt(LidarPropIgnoreArray, str_optvalue.c_str(), str_optvalue.size());

std::string frame_id = "laser_frame";
node->declare_parameter("frame_id");
///frameid
std::string frame_id = node->declare_parameter("frame_id", "laser_frame");
node->get_parameter("frame_id", frame_id);

//////////////////////int property/////////////////
/// lidar baudrate
int optval = 230400;
node->declare_parameter("baudrate");
node->get_parameter("baudrate", optval);
int optval = node->declare_parameter("baudrate", 230400);
laser.setlidaropt(LidarPropSerialBaudrate, &optval, sizeof(int));
/// tof lidar
optval = TYPE_TRIANGLE;
node->declare_parameter("lidar_type");
node->get_parameter("lidar_type", optval);
optval = node->declare_parameter("lidar_type", static_cast<int>(TYPE_TRIANGLE));
laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));
/// device type
optval = YDLIDAR_TYPE_SERIAL;
node->declare_parameter("device_type");
node->get_parameter("device_type", optval);
optval = node->declare_parameter("device_type", static_cast<int>(YDLIDAR_TYPE_SERIAL));
laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int));
/// sample rate
optval = 9;
node->declare_parameter("sample_rate");
node->get_parameter("sample_rate", optval);
optval = node->declare_parameter("sample_rate", 9);
laser.setlidaropt(LidarPropSampleRate, &optval, sizeof(int));
/// abnormal count
optval = 4;
node->declare_parameter("abnormal_check_count");
node->get_parameter("abnormal_check_count", optval);
optval = node->declare_parameter("abnormal_check_count", 4);
laser.setlidaropt(LidarPropAbnormalCheckCount, &optval, sizeof(int));


//////////////////////bool property/////////////////
/// fixed angle resolution
bool b_optvalue = false;
node->declare_parameter("fixed_resolution");
node->get_parameter("fixed_resolution", b_optvalue);
bool b_optvalue = node->declare_parameter("fixed_resolution", false);
laser.setlidaropt(LidarPropFixedResolution, &b_optvalue, sizeof(bool));
/// rotate 180
b_optvalue = true;
node->declare_parameter("reversion");
node->get_parameter("reversion", b_optvalue);
b_optvalue = node->declare_parameter("reversion", true);
laser.setlidaropt(LidarPropReversion, &b_optvalue, sizeof(bool));
/// Counterclockwise
b_optvalue = true;
node->declare_parameter("inverted");
node->get_parameter("inverted", b_optvalue);
b_optvalue = node->declare_parameter("inverted", true);
laser.setlidaropt(LidarPropInverted, &b_optvalue, sizeof(bool));
b_optvalue = true;
node->declare_parameter("auto_reconnect");
node->get_parameter("auto_reconnect", b_optvalue);
/// Auto reconnect
b_optvalue = node->declare_parameter("auto_reconnect", true);
laser.setlidaropt(LidarPropAutoReconnect, &b_optvalue, sizeof(bool));
/// one-way communication
b_optvalue = false;
node->declare_parameter("isSingleChannel");
node->get_parameter("isSingleChannel", b_optvalue);
b_optvalue = node->declare_parameter("isSingleChannel", false);
laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));
/// intensity
b_optvalue = false;
node->declare_parameter("intensity");
node->get_parameter("intensity", b_optvalue);
b_optvalue = node->declare_parameter("intensity", false);
laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
/// Motor DTR
b_optvalue = false;
node->declare_parameter("support_motor_dtr");
node->get_parameter("support_motor_dtr", b_optvalue);
b_optvalue = node->declare_parameter("support_motor_dtr", false);
laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));

//////////////////////float property/////////////////
/// unit: °
float f_optvalue = 180.0f;
node->declare_parameter("angle_max");
node->get_parameter("angle_max", f_optvalue);
float f_optvalue = node->declare_parameter("angle_max", 180.0f);
laser.setlidaropt(LidarPropMaxAngle, &f_optvalue, sizeof(float));
f_optvalue = -180.0f;
node->declare_parameter("angle_min");
node->get_parameter("angle_min", f_optvalue);
f_optvalue = node->declare_parameter("angle_min", -180.0f);
laser.setlidaropt(LidarPropMinAngle, &f_optvalue, sizeof(float));
/// unit: m
f_optvalue = 64.f;
node->declare_parameter("range_max");
node->get_parameter("range_max", f_optvalue);
f_optvalue = node->declare_parameter("range_max", 64.f);
laser.setlidaropt(LidarPropMaxRange, &f_optvalue, sizeof(float));
f_optvalue = 0.1f;
node->declare_parameter("range_min");
node->get_parameter("range_min", f_optvalue);
f_optvalue = node->declare_parameter("range_min", 0.1f);
laser.setlidaropt(LidarPropMinRange, &f_optvalue, sizeof(float));
/// unit: Hz
f_optvalue = 10.f;
node->declare_parameter("frequency");
node->get_parameter("frequency", f_optvalue);
f_optvalue = node->declare_parameter("frequency", 10.f);
laser.setlidaropt(LidarPropScanFrequency, &f_optvalue, sizeof(float));

bool invalid_range_is_inf = false;
node->declare_parameter("invalid_range_is_inf");
bool invalid_range_is_inf = node->declare_parameter("invalid_range_is_inf", false);
node->get_parameter("invalid_range_is_inf", invalid_range_is_inf);


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