esc_telemetry.cpp: use private node handle to shorten paths

mavlink · Feb 16, 2022 · c5cca22 · c5cca22
1 parent 72dc83e
commit c5cca22
Showing 1 changed file with 19 additions and 18 deletions.
diff --git a/mavros_extras/src/plugins/esc_telemetry.cpp b/mavros_extras/src/plugins/esc_telemetry.cpp
@@ -46,27 +46,28 @@ class ESCTelemetryPlugin : public plugin::PluginBase
 		enable_connection_cb();
 
 		// Read the diagnostic variables
-		nh.param("esc_telemetry/diagnostics/enabled", _diag_enabled, false);
+		auto pnh = ros::NodeHandle(ros::NodeHandle("~esc_telemetry"), "diagnostics");
+		pnh.param("enabled", _diag_enabled, false);
 		if (_diag_enabled)
 		{
 			ROS_INFO_STREAM("Diagnostics are enabled!!!");
-			nh.param("esc_telemetry/diagnostics/temp_min/nok", _temp_min_nok, 0.0f);
-			nh.param("esc_telemetry/diagnostics/temp_min/ok", _temp_min_ok, 1.0f);
-			nh.param("esc_telemetry/diagnostics/volt_min/nok", _volt_min_nok, 14.0f);
-			nh.param("esc_telemetry/diagnostics/volt_min/ok", _volt_min_ok, 15.0f);
-			nh.param("esc_telemetry/diagnostics/curr_min/nok", _curr_min_nok, 4.0f);
-			nh.param("esc_telemetry/diagnostics/curr_min/ok", _curr_min_ok, 5.0f);
-			nh.param("esc_telemetry/diagnostics/rpm_min/nok", _rpm_min_nok, 2000);
-			nh.param("esc_telemetry/diagnostics/rpm_min/ok", _rpm_min_ok, 3000);
-			nh.param("esc_telemetry/diagnostics/temp_max/nok", _temp_max_nok, 90.0f);
-			nh.param("esc_telemetry/diagnostics/temp_max/ok", _temp_max_ok, 85.0f);
-			nh.param("esc_telemetry/diagnostics/volt_max/nok", _volt_max_nok, 17.0f);
-			nh.param("esc_telemetry/diagnostics/volt_max/ok", _volt_max_ok, 16.0f);
-			nh.param("esc_telemetry/diagnostics/curr_max/nok", _curr_max_nok, 10.0f);
-			nh.param("esc_telemetry/diagnostics/curr_max/ok", _curr_max_ok, 8.0f);
-			nh.param("esc_telemetry/diagnostics/rpm_max/nok", _rpm_max_nok, 12000);
-			nh.param("esc_telemetry/diagnostics/rpm_max/ok", _rpm_max_ok, 9000);
-			nh.param("esc_telemetry/diagnostics/count/min_delta", _count_min_delta, 10);
+			pnh.param("temp_min/nok", _temp_min_nok, 0.0f);
+			pnh.param("temp_min/ok", _temp_min_ok, 1.0f);
+			pnh.param("volt_min/nok", _volt_min_nok, 14.0f);
+			pnh.param("volt_min/ok", _volt_min_ok, 15.0f);
+			pnh.param("curr_min/nok", _curr_min_nok, 4.0f);
+			pnh.param("curr_min/ok", _curr_min_ok, 5.0f);
+			pnh.param("rpm_min/nok", _rpm_min_nok, 2000);
+			pnh.param("rpm_min/ok", _rpm_min_ok, 3000);
+			pnh.param("temp_max/nok", _temp_max_nok, 90.0f);
+			pnh.param("temp_max/ok", _temp_max_ok, 85.0f);
+			pnh.param("volt_max/nok", _volt_max_nok, 17.0f);
+			pnh.param("volt_max/ok", _volt_max_ok, 16.0f);
+			pnh.param("curr_max/nok", _curr_max_nok, 10.0f);
+			pnh.param("curr_max/ok", _curr_max_ok, 8.0f);
+			pnh.param("rpm_max/nok", _rpm_max_nok, 12000);
+			pnh.param("rpm_max/ok", _rpm_max_ok, 9000);
+			pnh.param("count/min_delta", _count_min_delta, 10);
 			UAS_DIAG(m_uas).add("ESC temperature", this, &ESCTelemetryPlugin::run_temperature_diagnostics);
 			UAS_DIAG(m_uas).add("ESC voltage", this, &ESCTelemetryPlugin::run_voltage_diagnostics);
 			UAS_DIAG(m_uas).add("ESC current", this, &ESCTelemetryPlugin::run_current_diagnostics);