Fix ros-controls#259 - ParameterAlreadyDeclaredException for parame…

…ter `position_proportional_gain` (backport ros-controls#261) (ros-controls#262) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
PickNikRobotics · Mar 28, 2024 · f724da5 · f724da5
1 parent cec39b6
commit f724da5
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/ign_ros2_control/src/ign_system.cpp b/ign_ros2_control/src/ign_system.cpp
@@ -182,8 +182,13 @@ bool IgnitionSystem::initSim(
 
   constexpr double default_gain = 0.1;
 
-  this->dataPtr->position_proportional_gain_ = this->nh_->declare_parameter<double>(
-    "position_proportional_gain", default_gain);
+  try {
+    this->dataPtr->position_proportional_gain_ = this->nh_->declare_parameter<double>(
+      "position_proportional_gain", default_gain);
+  } catch (rclcpp::exceptions::ParameterAlreadyDeclaredException & ex) {
+    this->nh_->get_parameter(
+      "position_proportional_gain", this->dataPtr->position_proportional_gain_);
+  }
 
   RCLCPP_INFO_STREAM(
     this->nh_->get_logger(),