Remove default values of declare_parameter from map_loader

anhnv3991 · anhnv3991 · commit 6951afddd2fc · 2024-02-07T08:39:53.000+07:00
Signed-off-by: anhnv3991 &lt;anh.nguyen.2@tier4.jp&gt;
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
@@ -61,8 +61,8 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
     sub_map_projector_info_,
     [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { on_map_projector_info(msg); });
 
-  declare_parameter("lanelet2_map_path", "");
-  declare_parameter("center_line_resolution", 5.0);
+  declare_parameter<std::string>("lanelet2_map_path");
+  declare_parameter<double>("center_line_resolution");
 }
 
 void Lanelet2MapLoaderNode::on_map_projector_info(
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
@@ -71,7 +71,7 @@ Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOpt
 {
   using std::placeholders::_1;
 
-  viz_lanelets_centerline_ = this->declare_parameter("viz_lanelets_centerline", true);
+  viz_lanelets_centerline_ = true;
 
   sub_map_bin_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
     "input/lanelet2_map", rclcpp::QoS{1}.transient_local(),

Original file line number	Diff line number	Diff line change
`@@ -61,8 +61,8 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options`
`61`	`61`	`sub_map_projector_info_,`
`62`	`62`	`[this](const MapProjectorInfo::Message::ConstSharedPtr msg) { on_map_projector_info(msg); });`
`63`	`63`
`64`		`- declare_parameter("lanelet2_map_path", "");`
`65`		`- declare_parameter("center_line_resolution", 5.0);`
	`64`	`+ declare_parameter<std::string>("lanelet2_map_path");`
	`65`	`+ declare_parameter<double>("center_line_resolution");`
`66`	`66`	`}`
`67`	`67`
`68`	`68`	`void Lanelet2MapLoaderNode::on_map_projector_info(`
Original file line number	Diff line number	Diff line change
`@@ -71,7 +71,7 @@ Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOpt`
`71`	`71`	`{`
`72`	`72`	`using std::placeholders::_1;`
`73`	`73`
`74`		`- viz_lanelets_centerline_ = this->declare_parameter("viz_lanelets_centerline", true);`
	`74`	`+ viz_lanelets_centerline_ = true;`
`75`	`75`
`76`	`76`	`sub_map_bin_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(`
`77`	`77`	`"input/lanelet2_map", rclcpp::QoS{1}.transient_local(),`