bool VectorVisualization::readParameters()
{
std::string typePrefix;
nodeHandle_.param("vector/type_prefix", typePrefix, std::string(""));
if (typePrefix.empty()) return true;
types_.push_back(typePrefix + "_x");
types_.push_back(typePrefix + "_y");
types_.push_back(typePrefix + "_z");
nodeHandle_.param("vector/position_type", positionType_, std::string(""));
nodeHandle_.param("vector/scale", scale_, 0.02);
nodeHandle_.param("vector/line_width", lineWidth_, 0.001);
int colorValue;
nodeHandle_.param("vector/color", colorValue, 65280); // green
setColorFromColorValue(color_, colorValue, true);
return true;
}
bool VectorVisualization::readParameters(XmlRpc::XmlRpcValue& config)
{
VisualizationBase::readParameters(config);
std::string typePrefix;
if (!getParam("layer_prefix", typePrefix)) {
ROS_ERROR("VectorVisualization with name '%s' did not find a 'layer_prefix' parameter.", name_.c_str());
return false;
}
types_.push_back(typePrefix + "x");
types_.push_back(typePrefix + "y");
types_.push_back(typePrefix + "z");
if (!getParam("position_layer", positionLayer_)) {
ROS_ERROR("VectorVisualization with name '%s' did not find a 'position_layer' parameter.", name_.c_str());
return false;
}
scale_ = 1.0;
if (!getParam("scale", scale_)) {
ROS_INFO("VectorVisualization with name '%s' did not find a 'scale' parameter. Using default.", name_.c_str());
}
lineWidth_ = 0.003;
if (!getParam("line_width", lineWidth_)) {
ROS_INFO("VectorVisualization with name '%s' did not find a 'line_width' parameter. Using default.", name_.c_str());
}
int colorValue = 65280; // green
if (!getParam("color", colorValue)) {
ROS_INFO("VectorVisualization with name '%s' did not find a 'color' parameter. Using default.", name_.c_str());
}
setColorFromColorValue(color_, colorValue, true);
return true;
}
