navsat_transform crashes when broadcast_utm_transform is false

[afrixs]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • binaries
• Version or commit hash:
  • 3.3.0-1focal.20220122.083819

Steps to reproduce issue

Run navsat_transform_node, setting broadcast_utm_transform to false or not setting it at all (or setting 'broadcast_cartesian_transform' instead).

Expected behavior

Node runs normally without publishing utm transform

Actual behavior

Node crashes with message: parameter 'broadcast_utm_transform' has already been declared

Additional information

I believe this line was intended to be

      this->declare_parameter("broadcast_cartesian_transform", broadcast_cartesian_transform_);

instead of

      this->declare_parameter("broadcast_utm_transform", broadcast_cartesian_transform_);

[ayrton04]

Thanks. Any chance you'd care to submit a PR? :)

[snDevX]

Any solution for ros-noetic ? The navsat_transform.cpp is different for this version

[ayrton04]

Noetic doesn't do parameter declaration, so I don't believe it should crash. What are you seeing in noetic?