{"action":"created","comment":{"url":"https://api.github.com/repos/ros-planning/navigation2/pulls/comments/221349158","pull_request_review_id":159960749,"id":221349158,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIyMTM0OTE1OA==","diff_hunk":"@@ -108,133 +119,146 @@ Costmap2DROS::Costmap2DROS(const std::string& name, tf2_ros::Buffer& tf) :\n \n   // check if we want a rolling window version of the costmap\n   bool rolling_window, track_unknown_space, always_send_full_costmap;\n-  private_nh.param(\"rolling_window\", rolling_window, false);\n-  private_nh.param(\"track_unknown_space\", track_unknown_space, false);\n-  private_nh.param(\"always_send_full_costmap\", always_send_full_costmap, false);\n+\n+  rolling_window = private_parameters_client->get_parameter<bool>(\"rolling_window\", false);","path":"src/libs/costmap_2d/src/costmap_2d_ros.cpp","position":124,"original_position":124,"commit_id":"5d1b6a08758c1adc8a767f88afba6c6f78dce31a","original_commit_id":"5d1b6a08758c1adc8a767f88afba6c6f78dce31a","user":{"login":"crdelsey","id":39749483,"node_id":"MDQ6VXNlcjM5NzQ5NDgz","avatar_url":"https://avatars1.githubusercontent.com/u/39749483?v=4","gravatar_id":"","url":"https://api.github.com/users/crdelsey","html_url":"https://github.com/crdelsey","followers_url":"https://api.github.com/users/crdelsey/followers","following_url":"https://api.github.com/users/crdelsey/following{/other_user}","gists_url":"https://api.github.com/users/crdelsey/gists{/gist_id}","starred_url":"https://api.github.com/users/crdelsey/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/crdelsey/subscriptions","organizations_url":"https://api.github.com/users/crdelsey/orgs","repos_url":"https://api.github.com/users/crdelsey/repos","events_url":"https://api.github.com/users/crdelsey/events{/privacy}","received_events_url":"https://api.github.com/users/crdelsey/received_events","type":"User","site_admin":false},"body":"When you get rid of the parameters client, these would become\r\n```c++\r\nnh->get_parameter_or(\"rolling_window\", rolling_window, false);\r\n...\r\n```","created_at":"2018-09-28T18:51:30Z","updated_at":"2018-09-28T18:55:28Z","html_url":"https://github.com/ros-planning/navigation2/pull/113#discussion_r221349158","pull_request_url":"https://api.github.com/repos/ros-planning/navigation2/pulls/113","author_association":"COLLABORATOR","_links":{"self":{"href":"https://api.github.com/repos/ros-planning/navigation2/pulls/comments/221349158"},"html":{"href":"https://github.com/ros-planning/navigation2/pull/113#discussion_r221349158"},"pull_request":{"href":"https://api.github.com/repos/ros-planning/navigation2/pulls/113"}}},"pull_request":{"url":"https://api.github.com/repos/ros-planning/navigation2/pulls/113","id":218787933,"node_id":"MDExOlB1bGxSZXF1ZXN0MjE4Nzg3OTMz","html_url":"https://github.com/ros-planning/navigation2/pull/113","diff_url":"https://github.com/ros-planning/navigation2/pull/113.diff","patch_url":"https://github.com/ros-planning/navigation2/pull/113.patch","issue_url":"https://api.github.com/repos/ros-planning/navigation2/issues/113","number":113,"state":"open","locked":false,"title":"Initial Costmap_2d port","user":{"login":"bpwilcox","id":22353511,"node_id":"MDQ6VXNlcjIyMzUzNTEx","avatar_url":"https://avatars3.githubusercontent.com/u/22353511?v=4","gravatar_id":"","url":"https://api.github.com/users/bpwilcox","html_url":"https://github.com/bpwilcox","followers_url":"https://api.github.com/users/bpwilcox/followers","following_url":"https://api.github.com/users/bpwilcox/following{/other_user}","gists_url":"https://api.github.com/users/bpwilcox/gists{/gist_id}","starred_url":"https://api.github.com/users/bpwilcox/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bpwilcox/subscriptions","organizations_url":"https://api.github.com/users/bpwilcox/orgs","repos_url":"https://api.github.com/users/bpwilcox/repos","events_url":"https://api.github.com/users/bpwilcox/events{/privacy}","received_events_url":"https://api.github.com/users/bpwilcox/received_events","type":"User","site_admin":false},"body":"This initial port of costmap_2d compiles successfully. 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