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Added remote_node_name

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This commit is contained in:
Esteve Fernandez 2015-05-19 16:36:34 -07:00
parent 1f2ab33988
commit 2bb3623de2
1 changed files with 13 additions and 6 deletions
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19
rclcpp/include/rclcpp/parameter_client.hpp
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@ -46,19 +46,25 @@ class AsyncParametersClient
public: public:
RCLCPP_MAKE_SHARED_DEFINITIONS(AsyncParametersClient); RCLCPP_MAKE_SHARED_DEFINITIONS(AsyncParametersClient);
AsyncParametersClient(const rclcpp::node::Node::SharedPtr & node) AsyncParametersClient(const rclcpp::node::Node::SharedPtr & node,
const std::string & remote_node_name = "")
: node_(node) : node_(node)
{ {
if (remote_node_name != "") {
remote_node_name_ = remote_node_name;
} else {
remote_node_name_ = node_->get_name();
}
get_parameters_client_ = node_->create_client<rcl_interfaces::GetParameters>( get_parameters_client_ = node_->create_client<rcl_interfaces::GetParameters>(
"get_parameters"); "get_parameters_" + remote_node_name_);
get_parameter_types_client_ = node_->create_client<rcl_interfaces::GetParameterTypes>( get_parameter_types_client_ = node_->create_client<rcl_interfaces::GetParameterTypes>(
"get_parameter_types"); "get_parameter_types_" + remote_node_name_);
set_parameters_client_ = node_->create_client<rcl_interfaces::SetParameters>( set_parameters_client_ = node_->create_client<rcl_interfaces::SetParameters>(
"set_parameters"); "set_parameters_" + remote_node_name_);
list_parameters_client_ = node_->create_client<rcl_interfaces::ListParameters>( list_parameters_client_ = node_->create_client<rcl_interfaces::ListParameters>(
"list_parameters"); "list_parameters_" + remote_node_name_);
describe_parameters_client_ = node_->create_client<rcl_interfaces::DescribeParameters>( describe_parameters_client_ = node_->create_client<rcl_interfaces::DescribeParameters>(
"describe_parameters"); "describe_parameters_" + remote_node_name_);
} }
std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>> std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
@ -223,6 +229,7 @@ private:
set_parameters_atomically_client_; set_parameters_atomically_client_;
rclcpp::client::Client<rcl_interfaces::ListParameters>::SharedPtr list_parameters_client_; rclcpp::client::Client<rcl_interfaces::ListParameters>::SharedPtr list_parameters_client_;
rclcpp::client::Client<rcl_interfaces::DescribeParameters>::SharedPtr describe_parameters_client_; rclcpp::client::Client<rcl_interfaces::DescribeParameters>::SharedPtr describe_parameters_client_;
std::string remote_node_name_;
}; };
class SyncParametersClient class SyncParametersClient