From 7ad72b3fa1bf8334c02a210bcadd22e6b9fd8a1d Mon Sep 17 00:00:00 2001
From: qlin960618 <qlin1806@gmail.com>
Date: Fri, 20 Dec 2024 16:54:40 +0900
Subject: [PATCH] bug fix hand driver with parameter initialization default
 issue

---
 src/sas_robot_driver_franka_hand_node.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/sas_robot_driver_franka_hand_node.cpp b/src/sas_robot_driver_franka_hand_node.cpp
index 64415d3..27cca67 100644
--- a/src/sas_robot_driver_franka_hand_node.cpp
+++ b/src/sas_robot_driver_franka_hand_node.cpp
@@ -53,10 +53,10 @@ void sig_int_handler(int)
 template<typename T>
 void get_optional_parameter(std::shared_ptr<Node> node, const std::string &param_name, T &param)
 {
-    if(node->has_parameter(param_name))
+    try
     {
         sas::get_ros_parameter(node,param_name,param);
-    }else
+    }catch (const std::exception& e)
     {
         RCLCPP_INFO_STREAM(node->get_logger(), "["+std::string(node->get_name())+"]:Parameter " + param_name + " not found. Using default value. " + std::to_string(param));
     }