fix: fix parameters and clean up node handles

[DerKurt]

Public API Changes
None

Description
Parameters where not usable before.
private_nh isn't needed.

[DerKurt]

See issue #137

[styczen]

@rctoris Do we know why this PR is not merged? This fix is quite helpful.

[styczen]

Typo

Suggested change

	declare_parameter("my_doaddressuble_array", rclcpp::PARAMETER_STRING);
	declare_parameter("address", rclcpp::PARAMETER_STRING);

[arneboe]

fixedfixed

[chameau5050]

Good job @DerKurt, do you think you could make the change soon so everybody can use this nice upgrade ? Or maybe @styczen or @rctoris you could make those minor changes. I would do it myself If I had the write permission.

[chameau5050]

In my case, using humble the cv_bridge.hpp is not found by the compilator

Suggested change

	#include <cv_bridge/cv_bridge.hpp>
	#include <cv_bridge/cv_bridge.h>

[arneboe]

In my case, using humble the cv_bridge.hpp is not found by the compilator

The cv_bridge.h header seems to be deprecated:
#warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead

Since we are compiling using -werror, this breaks compilation for us.
Is there a compile time switch that we can use to check for the ros2 version?

[chameau5050]

Yay, I just notice the root cause of the problem. It is because the humble branch of cv_bridge has not been updated with the new header file. Still, we can fix it here at compile time by detecting ROS distro at compile time by doing something like that.

Suggested change

	#include <cv_bridge/cv_bridge.hpp>
	#ifdef USE_CV_BRIDGE_H
	#include <cv_bridge/cv_bridge.h>
	#else
	#include <cv_bridge/cv_bridge.hpp>
	#endif

[chameau5050]

same problem here

Suggested change

	#include <cv_bridge/cv_bridge.hpp>
	#include <cv_bridge/cv_bridge.h>

[chameau5050]

same here

Suggested change

	#include <cv_bridge/cv_bridge.hpp>
	#ifdef USE_CV_BRIDGE_H
	#include <cv_bridge/cv_bridge.h>
	#else
	#include <cv_bridge/cv_bridge.hpp>
	#endif

[chameau5050]

This print was removed, but I found it really useful to check that everything is launching correctly

Suggested change

	}
	RCLCPP_INFO(nh_->get_logger(), "Waiting For connections on %s:%d", address_.c_str(), port_);
	}

[DerKurt]

@chameau5050 I don´t have access to the branch anymore, but I notified some people that have and hopefully they can do the changes.

[chameau5050]

@arneboe also add this code after this line and compile issue should be fix for humble and above :

if("$ENV{ROS_DISTRO}" STREQUAL "humble")
 target_compile_definitions(${PROJECT_NAME} PRIVATE USE_CV_BRIDGE_H)
endif()