From 51c38625b0e935a50230624bd8f7beaae46600d7 Mon Sep 17 00:00:00 2001
From: Shobuj Paul <72087882+Shobuj-Paul@users.noreply.github.com>
Date: Fri, 26 Jul 2024 20:36:28 +0530
Subject: [PATCH] Const topic instead of parameters (#2728)

---
 .../include/moveit/moveit_cpp/moveit_cpp.h    | 25 ++++++++++---------
 1 file changed, 13 insertions(+), 12 deletions(-)

diff --git a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
index f3c6edaa7b..15251ccdc9 100644
--- a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
+++ b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
@@ -57,27 +57,28 @@ class MoveItCpp
   /// Specification of options to use when constructing the MoveItCpp class
   struct PlanningSceneMonitorOptions
   {
+    PlanningSceneMonitorOptions()
+      : joint_state_topic(planning_scene_monitor::PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC)
+      , attached_collision_object_topic(
+            planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC)
+      , monitored_planning_scene_topic(planning_scene_monitor::PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC)
+      , publish_planning_scene_topic(planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC)
+    {
+    }
+
     void load(const rclcpp::Node::SharedPtr& node)
     {
       const std::string ns = "planning_scene_monitor_options";
       node->get_parameter_or(ns + ".name", name, std::string("planning_scene_monitor"));
       node->get_parameter_or(ns + ".robot_description", robot_description, std::string("robot_description"));
-      node->get_parameter_or(ns + ".joint_state_topic", joint_state_topic,
-                             planning_scene_monitor::PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC);
-      node->get_parameter_or(ns + ".attached_collision_object_topic", attached_collision_object_topic,
-                             planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC);
-      node->get_parameter_or(ns + ".monitored_planning_scene_topic", monitored_planning_scene_topic,
-                             planning_scene_monitor::PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC);
-      node->get_parameter_or(ns + ".publish_planning_scene_topic", publish_planning_scene_topic,
-                             planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC);
       node->get_parameter_or(ns + ".wait_for_initial_state_timeout", wait_for_initial_state_timeout, 0.0);
     }
     std::string name;
     std::string robot_description;
-    std::string joint_state_topic;
-    std::string attached_collision_object_topic;
-    std::string monitored_planning_scene_topic;
-    std::string publish_planning_scene_topic;
+    const std::string joint_state_topic;
+    const std::string attached_collision_object_topic;
+    const std::string monitored_planning_scene_topic;
+    const std::string publish_planning_scene_topic;
     double wait_for_initial_state_timeout;
   };