From d98854e3812fca3f2dc4e7f50705db9287ed07a1 Mon Sep 17 00:00:00 2001
From: Brian Gerkey <brian@gerkey.org>
Date: Thu, 8 Oct 2009 19:43:04 +0000
Subject: [PATCH] Fixed command-line parsing to handle ROS args, #1862

---
 tools/topic_tools/src/drop.cpp     | 16 +++++++++++-----
 tools/topic_tools/src/throttle.cpp |  9 +++++----
 2 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/tools/topic_tools/src/drop.cpp b/tools/topic_tools/src/drop.cpp
index d9130b31..0831d12e 100644
--- a/tools/topic_tools/src/drop.cpp
+++ b/tools/topic_tools/src/drop.cpp
@@ -66,18 +66,24 @@ void in_cb(const boost::shared_ptr<ShapeShifter const>& msg)
     s_count = 0;
 }
 
+#define USAGE "\nusage: drop IN_TOPIC X Y [OUT_TOPIC]\n\n" \
+              " This program will drop X out of every Y messages from IN_TOPIC,\n" \
+              " forwarding the rest to OUT_TOPIC if given, else to a topic \n" \
+              " named IN_TOPIC_drop\n\n"
 int main(int argc, char **argv)
 {
-  if ((argc != 4 && argc != 5) || atoi(argv[2]) < 0 || atoi(argv[3]) < 1)
+  if(argc < 2)
   {
-    printf("\nusage: drop IN_TOPIC X Y [OUT_TOPIC]\n\n"
-           " This program will drop X out of every Y messages from IN_TOPIC,\n"
-           " forwarding the rest to OUT_TOPIC if given, else to a topic \n"
-           " named IN_TOPIC_drop\n\n");
+    puts(USAGE);
     return 1;
   }
   ros::init(argc, argv, string(argv[1]) + string("_drop"),
             ros::init_options::AnonymousName);
+  if ((argc != 4 && argc != 5) || atoi(argv[2]) < 0 || atoi(argv[3]) < 1)
+  {
+    puts(USAGE);
+    return 1;
+  }
   if (argc == 4)
     g_output_topic = string(argv[1]) + string("_drop");
   else // argc == 5
diff --git a/tools/topic_tools/src/throttle.cpp b/tools/topic_tools/src/throttle.cpp
index 01306c22..bc8cfe50 100644
--- a/tools/topic_tools/src/throttle.cpp
+++ b/tools/topic_tools/src/throttle.cpp
@@ -125,6 +125,11 @@ int main(int argc, char **argv)
     return 1;
   }
 
+  string intopic = string(argv[2]);
+
+  ros::init(argc, argv, intopic + string("_throttle"),
+            ros::init_options::AnonymousName);
+
   if(!strcmp(argv[1], "messages"))
     g_use_messages = true;
   else if(!strcmp(argv[1], "bytes"))
@@ -134,8 +139,6 @@ int main(int argc, char **argv)
     puts(USAGE);
     return 1;
   }
-  
-  string intopic = string(argv[2]);
 
   if(g_use_messages && argc == 5)
     g_output_topic = string(argv[4]);
@@ -159,8 +162,6 @@ int main(int argc, char **argv)
     g_window = atof(argv[4]);
   }
 
-  ros::init(argc, argv, intopic + string("_throttle"),
-            ros::init_options::AnonymousName);
   ros::NodeHandle n;
   g_node = &n;
   ros::Subscriber sub = n.subscribe<ShapeShifter>(intopic, 10, &in_cb);