Adapt to ROS2 Dashing: automatically declare paramter

Fix issue intel#55 According to discussion in RCLCPP, for ROS2 Dashing release, "declare parameter" is expected to load configures from yaml file. See detail discussion here: ros2/rclcpp#715 Signed-off-by: Sharron LIU <[email protected]>
sharronliu · Jul 2, 2019 · af08271 · af08271
1 parent afdfa10
commit af08271
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Showing 2 changed files with 8 additions and 5 deletions.
diff --git a/realsense_ros2_camera/CMakeLists.txt b/realsense_ros2_camera/CMakeLists.txt
@@ -49,10 +49,12 @@ if(UNIX OR APPLE)
   set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pie")
 endif()
 
-find_package(librealsense2)
-if(NOT librealsense2_FOUND)
-  message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n")
-endif()
+#find_package(librealsense2)
+#if(NOT librealsense2_FOUND)
+#  message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n")
+#endif()
+find_library(librealsense2_LIBRARIES realsense2)
+find_path(librealsense2_INCLUDE_DIRS librealsense2/rs.hpp)
 
 if(CMAKE_BUILD_TYPE EQUAL "RELEASE")
   message(STATUS "Create Release Build.")

diff --git a/realsense_ros2_camera/src/realsense_camera_node.cpp b/realsense_ros2_camera/src/realsense_camera_node.cpp
@@ -98,7 +98,8 @@ class RealSenseCameraNode : public rclcpp::Node
 {
 public:
   RealSenseCameraNode()
-  : Node("RealSenseCameraNode"),
+  : Node("RealSenseCameraNode",
+      rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)),
     _ros_clock(RCL_ROS_TIME),
     _serial_no(""),
     _base_frame_id(""),