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Move declare_parameter<> back to constructor. #2

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Move declare_parameter<> back to constructor. #2

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8 changes: 4 additions & 4 deletions mavros/include/mavros/mavros_router.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -179,6 +179,10 @@ class Router : public rclcpp::Node
RCLCPP_INFO(get_logger(), "Known MAVLink dialects:%s", ss.str().c_str());
RCLCPP_INFO(get_logger(), "MAVROS Router started");

this->declare_parameter<StrV>("fcu_urls", StrV());
this->declare_parameter<StrV>("gcs_urls", StrV());
this->declare_parameter<StrV>("uas_urls", StrV());

// This must be run _after_ the constructor has finished
//
// Repeat the pattern from mavros_uas of using a delay timer
Expand Down Expand Up @@ -227,10 +231,6 @@ class Router : public rclcpp::Node
startup_delay_timer->cancel();
set_parameters_handle_ptr =
this->add_on_set_parameters_callback(std::bind(&Router::on_set_parameters_cb, this, _1));

this->declare_parameter<StrV>("fcu_urls", StrV());
this->declare_parameter<StrV>("gcs_urls", StrV());
this->declare_parameter<StrV>("uas_urls", StrV());
}

rcl_interfaces::msg::SetParametersResult on_set_parameters_cb(
Expand Down