Program Listing for File ros2_utils.hpp

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// Copyright (c) 2019 Intel Corporation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef ROS2_OUSTER__ROS2_UTILS_HPP_
#define ROS2_OUSTER__ROS2_UTILS_HPP_

#include <string>
#include "rclcpp/rclcpp.hpp"

namespace ros2_ouster
{

template<typename NodeTypePtr>
void declare_parameter_if_not_declared(
  NodeTypePtr node_ptr,
  const std::string & param_name)
{
  if (!node_ptr->has_parameter(param_name)) {
    node_ptr->declare_parameter(param_name);
  }
}


template<typename NodeTypePtr>
void declare_parameter_if_not_declared(
  NodeTypePtr node_ptr,
  const std::string & param_name,
  const rclcpp::ParameterValue & default_value,
  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
  rcl_interfaces::msg::ParameterDescriptor())
{
  if (!node_ptr->has_parameter(param_name)) {
    node_ptr->declare_parameter(param_name, default_value, parameter_descriptor);
  }
}

}  // namespace ros2_ouster

#endif  // ROS2_OUSTER__ROS2_UTILS_HPP_