From 4cf24e1356f39a811cd5e7d51dbe66ccdf7bca6b Mon Sep 17 00:00:00 2001
From: Rohan Agrawal <rohan@osrfoundation.org>
Date: Thu, 28 Jul 2016 17:12:31 -0700
Subject: [PATCH] added ros1 style get_param for non-variant types

---
 rclcpp/include/rclcpp/node.hpp      |  3 +++
 rclcpp/include/rclcpp/node_impl.hpp | 13 +++++++++++++
 2 files changed, 16 insertions(+)

diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index c80fe1cf78..7a1fcb1ea2 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -262,6 +262,9 @@ class Node : public std::enable_shared_from_this<Node>
     const std::string & name,
     rclcpp::parameter::ParameterVariant & parameter) const;
 
+  template<typename ParameterT>
+  bool get_parameter(const std::string & name, ParameterT & parameter) const;
+
   RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::ParameterDescriptor>
   describe_parameters(const std::vector<std::string> & names) const;
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index 7c018ad31e..f7319ec602 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -368,6 +368,19 @@ void Node::register_param_change_callback(CallbackT && callback)
   this->parameters_callback_ = callback;
 }
 
+template<typename ParameterT>
+bool Node::get_parameter(const std::string & name, ParameterT & parameter) const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+
+  if (parameters_.count(name)) {
+    parameter = parameters_.at(name).get_value<ParameterT>();
+    return true;
+  } else {
+    return false;
+  }
+}
+
 }  // namespace node
 }  // namespace rclcpp