templatize NodeT for get_or_declare_parameter

Signed-off-by: Koichi Imai <kotty.0704@gmail.com>

Author: Koichi98

autoware_utils_rclcpp/include/autoware_utils_rclcpp/parameter.hpp

@@ -25,14 +25,17 @@
 namespace autoware_utils_rclcpp
 {
 
-template <class T>
-T get_or_declare_parameter(rclcpp::Node & node, const std::string & name)
+// Templated on the node type so it also accepts non-rclcpp::Node nodes that expose the same
+// parameter API (e.g. autoware::agnocast_wrapper::Node). NodeT defaults to rclcpp::Node, so existing
+// callers (get_or_declare_parameter<T>(node, name)) are unchanged.
+template <class T, class NodeT = rclcpp::Node>
+T get_or_declare_parameter(NodeT & node, const std::string & name)
 {
   if (node.has_parameter(name)) {
-    return node.get_parameter(name).get_value<T>();
+    return node.get_parameter(name).template get_value<T>();
   }
 
-  return node.declare_parameter<T>(name);
+  return node.template declare_parameter<T>(name);
 }
 
 template <class T>