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Fix ambiguous constructor overload #499

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merged 1 commit into from
Oct 5, 2025
Merged

Fix ambiguous constructor overload #499

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34 changes: 9 additions & 25 deletions control_toolbox/include/control_toolbox/pid_ros.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,28 +53,6 @@ namespace control_toolbox
class PidROS
{
public:
/*!
* \brief Constructor of PidROS class.
*
* The node is passed to this class to handler the ROS parameters, this class allows
* to add a prefix to the pid parameters
*
* \param node ROS node
* \param prefix prefix to add to the pid parameters.
* Per default is prefix interpreted as prefix for topics.
* \param prefix_is_for_params provided prefix should be interpreted as prefix for parameters.
* If the parameter is `true` then "/" in the middle of the string will not be replaced
* with "." for parameters prefix. "/" or "~/" at the beginning will be removed.
*
*/
template <class NodeT>
explicit PidROS(std::shared_ptr<NodeT> node_ptr, const std::string & param_prefix)
: PidROS(
node_ptr->get_node_base_interface(), node_ptr->get_node_logging_interface(),
node_ptr->get_node_parameters_interface(), node_ptr->get_node_topics_interface(),
param_prefix, "", false)
{
}
/*!
* \brief Constructor of PidROS class.
*
Expand All @@ -83,7 +61,11 @@ class PidROS
*
* \param node Any ROS node
* \param param_prefix prefix to add to the pid parameters.
* \param topic_prefix prefix to add to the state publisher. If it starts with `~/`, topic will be local under the namespace of the node. If it starts with `/` or an alphanumeric character, topic will be in global namespace.
* \param topic_prefix prefix to add to the state publisher.
* If it starts with `~/`, topic will be local under the namespace of the node.
* If it starts with `/` or an alphanumeric character, topic will be in global namespace.
*
* state publisher is not activated if topic_prefix is empty,
*
*/
template <class NodeT>
Expand All @@ -93,7 +75,7 @@ class PidROS
: PidROS(
node_ptr->get_node_base_interface(), node_ptr->get_node_logging_interface(),
node_ptr->get_node_parameters_interface(), node_ptr->get_node_topics_interface(),
param_prefix, topic_prefix, true)
param_prefix, topic_prefix, !topic_prefix.empty())
{
}

Expand All @@ -105,7 +87,9 @@ class PidROS
*
* \param node Any ROS node
* \param param_prefix prefix to add to the pid parameters.
* \param topic_prefix prefix to add to the state publisher. If it starts with `~/`, topic will be local under the namespace of the node. If it starts with `/` or an alphanumeric character, topic will be in global namespace.
* \param topic_prefix prefix to add to the state publisher.
* If it starts with `~/`, topic will be local under the namespace of the node.
* If it starts with `/` or an alphanumeric character, topic will be in global namespace.
* \param activate_state_publisher If true, the publisher will be enabled after initialization.
*
*/
Expand Down