Use 'auto_declare' for 'update_rate' parameter.

destogl · destogl · commit dc0c59afa8fa · 2022-03-07T12:56:38.000+01:00
diff --git a/controller_interface/src/controller_interface.cpp b/controller_interface/src/controller_interface.cpp
@@ -34,7 +34,7 @@ return_type ControllerInterface::init(const std::string & controller_name)
 
   try
   {
-    node_->declare_parameter("update_rate", 0);
+    auto_declare<int>("update_rate", 0);
   }
   catch (const std::exception & e)
   {
@@ -49,7 +49,6 @@ return_type ControllerInterface::init(const std::string & controller_name)
     case LifecycleNodeInterface::CallbackReturn::ERROR:
     case LifecycleNodeInterface::CallbackReturn::FAILURE:
       return return_type::ERROR;
-      break;
   }
 
   node_->register_on_configure(

Original file line number	Diff line number	Diff line change
`@@ -34,7 +34,7 @@ return_type ControllerInterface::init(const std::string & controller_name)`
`34`	`34`
`35`	`35`	`try`
`36`	`36`	`{`
`37`		`- node_->declare_parameter("update_rate", 0);`
	`37`	`+ auto_declare<int>("update_rate", 0);`
`38`	`38`	`}`
`39`	`39`	`catch (const std::exception & e)`
`40`	`40`	`{`
`@@ -49,7 +49,6 @@ return_type ControllerInterface::init(const std::string & controller_name)`
`49`	`49`	`case LifecycleNodeInterface::CallbackReturn::ERROR:`
`50`	`50`	`case LifecycleNodeInterface::CallbackReturn::FAILURE:`
`51`	`51`	`return return_type::ERROR;`
`52`		`- break;`
`53`	`52`	`}`
`54`	`53`
`55`	`54`	`node_->register_on_configure(`