diff --git a/include/rosparam_shortcuts/rosparam_shortcuts.h b/include/rosparam_shortcuts/rosparam_shortcuts.h
index 5e28f13..e5d2f44 100644
--- a/include/rosparam_shortcuts/rosparam_shortcuts.h
+++ b/include/rosparam_shortcuts/rosparam_shortcuts.h
@@ -78,6 +78,9 @@ bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::s
 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
          std::vector<double> &values);
 
+bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
+         std::vector<bool> &values);
+
 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, int &value);
 
 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, std::size_t &value);
@@ -96,11 +99,24 @@ bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::s
 /**
  * \brief Output a string of values from an array for debugging
  * \param array of values
+ * \tparam ValueType Type of the elements in @values
  * \return string of numbers separated by commas
  */
-std::string getDebugArrayString(std::vector<double> values);
+template <typename ValueType>
+std::string getDebugArrayString(std::vector<ValueType> values)
+{
+  std::string debug_values{};
+  for (const auto &value : values) debug_values += std::to_string(value) + ",";
+  return debug_values;
+}
 
-std::string getDebugArrayString(std::vector<std::string> values);
+template <>
+std::string getDebugArrayString(std::vector<std::string> values)
+{
+  std::string debug_values{};
+  for (const auto &value : values) debug_values += value + ",";
+  return debug_values;
+}
 
 /**
  * \brief Convert from 6 doubles of [x,y,z] [r,p,y] or 7 doubles of [x, y, z, qw, qx, qy, qz] to a transform
diff --git a/src/rosparam_shortcuts.cpp b/src/rosparam_shortcuts.cpp
index 81e3e1b..72213a1 100644
--- a/src/rosparam_shortcuts.cpp
+++ b/src/rosparam_shortcuts.cpp
@@ -120,6 +120,27 @@ bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::s
   return true;
 }
 
+bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
+         std::vector<bool> &values)
+{
+  // Load a param
+  if (!nh.hasParam(param_name))
+  {
+    ROS_ERROR_STREAM_NAMED(parent_name, "Missing parameter '" << nh.getNamespace() << "/" << param_name << "'.");
+    return false;
+  }
+  nh.getParam(param_name, values);
+
+  if (values.empty())
+    ROS_WARN_STREAM_NAMED(parent_name, "Empty vector for parameter '" << nh.getNamespace() << "/" << param_name << "'"
+                                                                                                                   ".");
+
+  ROS_DEBUG_STREAM_NAMED(parent_name, "Loaded parameter '" << nh.getNamespace() << "/" << param_name
+                                                           << "' with values [" << getDebugArrayString(values) << "]");
+
+  return true;
+}
+
 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, int &value)
 {
   // Load a param
@@ -233,26 +254,6 @@ bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::s
   return true;
 }
 
-std::string getDebugArrayString(std::vector<double> values)
-{
-  std::stringstream debug_values;
-  for (std::size_t i = 0; i < values.size(); ++i)
-  {
-    debug_values << values[i] << ",";
-  }
-  return debug_values.str();
-}
-
-std::string getDebugArrayString(std::vector<std::string> values)
-{
-  std::stringstream debug_values;
-  for (std::size_t i = 0; i < values.size(); ++i)
-  {
-    debug_values << values[i] << ",";
-  }
-  return debug_values.str();
-}
-
 bool convertDoublesToEigen(const std::string &parent_name, std::vector<double> values, Eigen::Affine3d &transform)
 {
   if (values.size() == 6)