niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Added on_parameter_event to SyncParametersClient

Browse source
This commit is contained in:
Esteve Fernandez 2015-06-25 11:49:33 -07:00
parent 8119064733
commit 2917aed993
1 changed files with 8 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

9
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -229,7 +229,7 @@ public:
template<typename FunctorT> template<typename FunctorT>
typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
on_parameter_event(FunctorT callback) on_parameter_event(FunctorT & callback)
{ {
// TODO(esteve): remove hardcoded values // TODO(esteve): remove hardcoded values
return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>("parameter_events", return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>("parameter_events",
@ -308,6 +308,13 @@ public:
return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get(); return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
} }
template<typename FunctorT>
typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
on_parameter_event(FunctorT & callback)
{
return async_parameters_client_->on_parameter_event(callback);
}
private: private:
rclcpp::executor::Executor::SharedPtr executor_; rclcpp::executor::Executor::SharedPtr executor_;
rclcpp::node::Node::SharedPtr node_; rclcpp::node::Node::SharedPtr node_;