update load param using node handle

include/costmap_2d/costmap_2d_robot.h

@@ -52,6 +52,8 @@
 #include <tf3_geometry_msgs/tf3_geometry_msgs.h>
 
 #include <xmlrpcpp/XmlRpcValue.h>
+
+#include <robot/node_handle.h>
 class SuperValue : public XmlRpc::XmlRpcValue
 {
 public:
@@ -269,7 +271,7 @@ private:
   float footprint_padding_;
 
 private:
-  void getParams(const std::string& config_file_name);
+  void getParams(const std::string& config_file_name, robot::NodeHandle& nh);
 };
 // class Costmap2DROBOT
 }  // namespace costmap_2d

include/costmap_2d/footprint.h

@@ -43,6 +43,7 @@
 #include <geometry_msgs/Point.h>
 #include <geometry_msgs/Point32.h>
 
+#include <robot/node_handle.h>
 #include <xmlrpcpp/XmlRpcValue.h> 
 
 namespace costmap_2d
@@ -118,11 +119,11 @@ std::vector<geometry_msgs::Point> makeFootprintFromRadius(double radius);
  */
 bool makeFootprintFromString(const std::string& footprint_string, std::vector<geometry_msgs::Point>& footprint);
 
-// /**
-//  * @brief Read the ros-params "footprint" and/or "robot_radius" from
-//  * the given NodeHandle using searchParam() to go up the tree.
-//  */
-// std::vector<geometry_msgs::Point> makeFootprintFromParams(ros::NodeHandle& nh);
+/**
+ * @brief Read the ros-params "footprint" and/or "robot_radius" from
+ * the given NodeHandle using searchParam() to go up the tree.
+ */
+std::vector<geometry_msgs::Point> makeFootprintFromParams(robot::NodeHandle& nh);
 
 /**
  * @brief Create the footprint from the given XmlRpcValue.

include/costmap_2d/inflation_layer.h

@@ -187,7 +187,7 @@ private:
   double** cached_distances_;
   double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
 
-  bool getParams(const std::string& config_file_name);
+  bool getParams(const std::string& config_file_name, robot::NodeHandle &nh);
 
   bool need_reinflation_;  ///< Indicates that the entire costmap should be reinflated next time around.
 };

include/costmap_2d/layer.h

@@ -42,8 +42,7 @@
 #include <costmap_2d/utils.h>
 #include <string>
 #include <tf3/buffer_core.h>
-
-
+#include <robot/node_handle.h>
 namespace costmap_2d
 {
 class LayeredCostmap;

include/costmap_2d/obstacle_layer.h

@@ -164,7 +164,7 @@ protected:
   int combination_method_;
 
 private:
-  bool getParams(const std::string& config_file_name);
+  bool getParams(const std::string& config_file_name, robot::NodeHandle &nh);
 };
 
 }  // namespace costmap_2d

include/costmap_2d/static_layer.h

@@ -88,8 +88,7 @@ protected:
   unsigned char lethal_threshold_, unknown_cost_value_;
   
 private:
-  bool getParams(const std::string& config_file_name);
-
+  bool getParams(const std::string& config_file_name, robot::NodeHandle &nh);
 };
 
 }  // namespace costmap_2d

include/costmap_2d/voxel_layer.h

@@ -83,7 +83,7 @@ protected:
   virtual void resetMaps();
 
 private:
-  bool getParams(const std::string& config_file_name);
+  bool getParams(const std::string& config_file_name, robot::NodeHandle &nh);
   void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info);
   virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
                                  double* max_x, double* max_y);