From 3af19a269b0fcdbd43029f85568cfbd42504fde4 Mon Sep 17 00:00:00 2001
From: Walter Lucetti <walter.lucetti@stereolabs.com>
Date: Mon, 29 Jul 2024 14:17:44 +0200
Subject: [PATCH] Fix Dynamic parameters initialization bug

---
 CHANGELOG.rst                                          |  4 ++++
 .../src/zed_nodelet/src/zed_wrapper_nodelet.cpp        | 10 ++++++----
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index b3b4fa93..ff498829 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -1,6 +1,10 @@
 CHANGELOG
 =========
 
+07-29-2024
+----------
+- Fix wrong dynamic parameters initialization
+
 05-04-2024
 ----------
 - Fix compatibility with ZED SDK v4.1
diff --git a/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp b/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
index 5492de5e..7150918c 100644
--- a/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
+++ b/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
@@ -1191,6 +1191,8 @@ void ZEDWrapperNodelet::readSvoParams()
 
 void ZEDWrapperNodelet::readDynParams()
 {
+  std::cerr << "Ci sei o no?" << std::endl << std::flush;
+
   NODELET_INFO_STREAM("*** DYNAMIC PARAMETERS (Init. values) ***");
 
   mNhNs.getParam("brightness", mCamBrightness);
@@ -1255,6 +1257,10 @@ void ZEDWrapperNodelet::readParameters()
   readGeneralParams();
   // <---- General
 
+  // ----> Dynamic
+  readDynParams();
+  // <---- Dynamic
+
   // ----> Video
   // NODELET_INFO_STREAM("*** VIDEO PARAMETERS ***");
   // Note: there are no "static" video parameters
@@ -1264,10 +1270,6 @@ void ZEDWrapperNodelet::readParameters()
   readDepthParams();
   // <----- Depth
 
-  // ----> Dynamic
-  void readDynParams();
-  // <---- Dynamic
-
   // ----> Positional Tracking
   readPosTrkParams();
   // <---- Positional Tracking