ros_utilities.h

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//
// Created by qiayuan on 7/7/20.
//
 
#pragma once
 
#include <ros/ros.h>
#include <XmlRpcException.h>
 
template <typename T>
T getParam(ros::NodeHandle& pnh, const std::string& param_name, const T& default_val)
{
  T param_val;
  pnh.param<T>(param_name, param_val, default_val);
  return param_val;
}
 
inline double xmlRpcGetDouble(XmlRpc::XmlRpcValue& value)
{
  if (value.getType() == XmlRpc::XmlRpcValue::TypeInt)
  {
    const int tmp = value;
    return (double)tmp;
  }
  else
    return value;
}
 
inline double xmlRpcGetDouble(XmlRpc::XmlRpcValue& value, int field)
{
  ROS_ASSERT((value[field].getType() == XmlRpc::XmlRpcValue::TypeDouble) ||
             (value[field].getType() == XmlRpc::XmlRpcValue::TypeInt));
  XmlRpc::XmlRpcValue value_xml = value[field];
  return xmlRpcGetDouble(value[field]);
}
 
inline double xmlRpcGetDouble(XmlRpc::XmlRpcValue& value, const std::string& field, double default_value)
{
  if (value.hasMember(field))
  {
    ROS_ASSERT((value[field].getType() == XmlRpc::XmlRpcValue::TypeDouble) ||
               (value[field].getType() == XmlRpc::XmlRpcValue::TypeInt));
    return xmlRpcGetDouble(value[field]);
  }
  else
    return default_value;
}