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Add wait_for_service and service_is_ready for SyncParametersClient (#356)

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dhood 2017-08-16 22:28:53 -07:00 • committed by GitHub
parent 98dded0ba5
commit 124500511b
1 changed files with 15 additions and 0 deletions
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15
rclcpp/include/rclcpp/parameter_client.hpp
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@ -218,6 +218,21 @@ public:
return async_parameters_client_->on_parameter_event(std::forward<CallbackT>(callback)); 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: private:
rclcpp::executor::Executor::SharedPtr executor_; rclcpp::executor::Executor::SharedPtr executor_;
rclcpp::node::Node::SharedPtr node_; rclcpp::node::Node::SharedPtr node_;