changed parameter naming

gazebosim · Nov 17, 2023 · 3027670 · 3027670
1 parent eefa9fe
commit 3027670
Showing 1 changed file with 35 additions and 36 deletions.
diff --git a/ros_gz_sim/src/create.cpp b/ros_gz_sim/src/create.cpp
@@ -35,15 +35,14 @@
 // If these are not needed, just use the `gz service` command line instead.
 int main(int _argc, char ** _argv)
 {
-   rclcpp::init(_argc, _argv);
+  rclcpp::init(_argc, _argv);
   auto ros2_node = rclcpp::Node::make_shared("ros_gz_sim");
 
-  std::string world_,file_,param_,string_,topic_,name_;
-  bool allow_renaming_;
-  double x_,y_,z_,R_,P_,Y_;
+  std::string world_prm,file_prm,param_prm,string_prm,topic_prm,name_prm;
+  bool allow_renaming_prm;
+  double x_prm,y_prm,z_prm,R_prm,P_prm,Y_prm;
 
   // declaring ros param 
-
   ros2_node->declare_parameter("world","");
   ros2_node->declare_parameter("file","");
   ros2_node->declare_parameter("param","");
@@ -59,22 +58,22 @@ int main(int _argc, char ** _argv)
   ros2_node->declare_parameter("Y", 0.0);
 
   // getting value of ros param (from param server or command line)
-  ros2_node->get_parameter("world", world_);
-  ros2_node->get_parameter("file", file_);
-  ros2_node->get_parameter("param", param_);
-  ros2_node->get_parameter("string", string_);
-  ros2_node->get_parameter("topic", topic_);
-  ros2_node->get_parameter("name", name_);
-  ros2_node->get_parameter("allow_renaming", allow_renaming_);
-  ros2_node->get_parameter("x", x_);
-  ros2_node->get_parameter("y", y_);
-  ros2_node->get_parameter("z", z_);
-  ros2_node->get_parameter("R", R_);
-  ros2_node->get_parameter("P", P_);
-  ros2_node->get_parameter("Y", Y_);
+  ros2_node->get_parameter("world", world_prm);
+  ros2_node->get_parameter("file", file_prm);
+  ros2_node->get_parameter("param", param_prm);
+  ros2_node->get_parameter("string", string_prm);
+  ros2_node->get_parameter("topic", topic_prm);
+  ros2_node->get_parameter("name", name_prm);
+  ros2_node->get_parameter("allow_renaming", allow_renaming_prm);
+  ros2_node->get_parameter("x", x_prm);
+  ros2_node->get_parameter("y", y_prm);
+  ros2_node->get_parameter("z", z_prm);
+  ros2_node->get_parameter("R", R_prm);
+  ros2_node->get_parameter("P", P_prm);
+  ros2_node->get_parameter("Y", Y_prm);
 
   // World
-  std::string world_name = world_;
+  std::string world_name = world_prm;
   if (world_name.empty()) {
     // If caller doesn't provide a world name, get list of worlds from gz-sim server
     gz::transport::Node node;
@@ -109,22 +108,22 @@ int main(int _argc, char ** _argv)
   gz::msgs::EntityFactory req;
 
   // File
-  if (!file_.empty()) {
-    req.set_sdf_filename(file_);
-  } else if (!param_.empty()) {  // Param
-    ros2_node->declare_parameter<std::string>(param_);
+  if (!file_prm.empty()) {
+    req.set_sdf_filename(file_prm);
+  } else if (!param_prm.empty()) {  // Param
+    ros2_node->declare_parameter<std::string>(param_prm);
 
     std::string xmlStr;
-    if (ros2_node->get_parameter(param_, xmlStr)) {
+    if (ros2_node->get_parameter(param_prm, xmlStr)) {
       req.set_sdf(xmlStr);
     } else {
       RCLCPP_ERROR(
-        ros2_node->get_logger(), "Failed to get XML from param [%s].", param_.c_str());
+        ros2_node->get_logger(), "Failed to get XML from param [%s].", param_prm.c_str());
       return -1;
     }
-  } else if (!string_.empty()) {  // string
-    req.set_sdf(string_);
-  } else if (!topic_.empty()) {  // topic
+  } else if (!string_prm.empty()) {  // string
+    req.set_sdf(string_prm);
+  } else if (!topic_prm.empty()) {  // topic
     const auto timeout = std::chrono::seconds(1);
     std::promise<std::string> xml_promise;
     std::shared_future<std::string> xml_future(xml_promise.get_future());
@@ -139,19 +138,19 @@ int main(int _argc, char ** _argv)
     rclcpp::Subscription<std_msgs::msg::String>::SharedPtr description_subs;
     // Transient local is similar to latching in ROS 1.
     description_subs = ros2_node->create_subscription<std_msgs::msg::String>(
-      topic_, rclcpp::QoS(1).transient_local(), fun);
+      topic_prm, rclcpp::QoS(1).transient_local(), fun);
 
     rclcpp::FutureReturnCode future_ret;
     do {
-      RCLCPP_INFO(ros2_node->get_logger(), "Waiting messages on topic [%s].", topic_.c_str());
+      RCLCPP_INFO(ros2_node->get_logger(), "Waiting messages on topic [%s].", topic_prm.c_str());
       future_ret = executor.spin_until_future_complete(xml_future, timeout);
     } while (rclcpp::ok() && future_ret != rclcpp::FutureReturnCode::SUCCESS);
 
     if (future_ret == rclcpp::FutureReturnCode::SUCCESS) {
       req.set_sdf(xml_future.get());
     } else {
       RCLCPP_ERROR(
-        ros2_node->get_logger(), "Failed to get XML from topic [%s].", topic_.c_str());
+        ros2_node->get_logger(), "Failed to get XML from topic [%s].", topic_prm.c_str());
       return -1;
     }
   } else {
@@ -160,16 +159,16 @@ int main(int _argc, char ** _argv)
   }
 
   // Pose
-  gz::math::Pose3d pose{x_, y_, z_, R_, P_, Y_};
+  gz::math::Pose3d pose{x_prm, y_prm, z_prm, R_prm, P_prm, Y_prm};
   gz::msgs::Set(req.mutable_pose(), pose);
 
   // Name
-  if (!name_.empty()) {
-    req.set_name(name_);
+  if (!name_prm.empty()) {
+    req.set_name(name_prm);
   }
 
-  if (allow_renaming_) {
-    req.set_allow_renaming(allow_renaming_);
+  if (allow_renaming_prm) {
+    req.set_allow_renaming(allow_renaming_prm);
   }
 
   // Request