Check if params already declared.

ros-controls · Aug 25, 2021 · f996475 · f996475
1 parent 176c062
commit f996475
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -377,8 +377,12 @@ JointTrajectoryController::on_configure(const rclcpp_lifecycle::State &)
   // declare per joint parameters
   for (auto i = 0ul; i < joint_names_.size(); ++i) {
     const std::string prefix = "constraints." + joint_names_[i];
-    node_->declare_parameter<double>(prefix + ".trajectory", 0.0);
-    node_->declare_parameter<double>(prefix + ".goal", 0.0);
+    if (!node_->has_parameter(prefix + ".trajectory")){
+      node_->declare_parameter<double>(prefix + ".trajectory", 0.0);
+    }
+    if (!node_->has_parameter(prefix + ".trajectory")) {
+      node_->declare_parameter<double>(prefix + ".goal", 0.0);
+    }
   }
 
   if (!reset()) {