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fix(lanelet2_map_loader): fixed parameter declaration timing #4639

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merged 2 commits into from
Aug 21, 2023
Merged

fix(lanelet2_map_loader): fixed parameter declaration timing #4639

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39d5426
Change parameter declaration timing
SakodaShintaro Aug 16, 2023
eeaaf9b
Merge branch 'main' into fix/lanelet2_map_loader_parameter
kminoda Aug 20, 2023
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7 changes: 5 additions & 2 deletions map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,13 +57,16 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
adaptor.init_sub(
sub_map_projector_type_,
[this](const MapProjectorInfo::Message::ConstSharedPtr msg) { on_map_projector_info(msg); });

declare_parameter("lanelet2_map_path", "");
declare_parameter("center_line_resolution", 5.0);
}

void Lanelet2MapLoaderNode::on_map_projector_info(
const MapProjectorInfo::Message::ConstSharedPtr msg)
{
const auto lanelet2_filename = declare_parameter("lanelet2_map_path", "");
const auto center_line_resolution = declare_parameter("center_line_resolution", 5.0);
const auto lanelet2_filename = get_parameter("lanelet2_map_path").as_string();
const auto center_line_resolution = get_parameter("center_line_resolution").as_double();

// load map from file
const auto map =
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