From 124500511bb086b869876108d5d0b61511b3227c Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Wed, 16 Aug 2017 22:28:53 -0700
Subject: [PATCH] Add wait_for_service and service_is_ready for
 SyncParametersClient (#356)

---
 rclcpp/include/rclcpp/parameter_client.hpp | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
index 6b7e640..3186523 100644
--- a/rclcpp/include/rclcpp/parameter_client.hpp
+++ b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -218,6 +218,21 @@ public:
     return async_parameters_client_->on_parameter_event(std::forward<CallbackT>(callback));
   }
 
+  RCLCPP_PUBLIC
+  bool
+  service_is_ready() const
+  {
+    return async_parameters_client_->service_is_ready();
+  }
+
+  template<typename RatioT = std::milli>
+  bool
+  wait_for_service(
+    std::chrono::duration<int64_t, RatioT> timeout = std::chrono::duration<int64_t, RatioT>(-1))
+  {
+    return async_parameters_client_->wait_for_service(timeout);
+  }
+
 private:
   rclcpp::executor::Executor::SharedPtr executor_;
   rclcpp::node::Node::SharedPtr node_;