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Set Parameter Event Publisher settings #591 (#614)

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* Add ability to disable Parameter Event Publisher and change its QoS settings

Signed-off-by: RARvolt <rarvolt@gmail.com>

* address review comments

Signed-off-by: William Woodall <william@osrfoundation.org>

* use NodeOptions struct

Signed-off-by: William Woodall <william@osrfoundation.org>

* remove vestigial doc strings and improve docs

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix lifecycle node constructor

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
rarvolt 2019-02-07 08:04:53 +01:00 • committed by William Woodall
parent 0f9098e9b6
commit 4046563de6
6 changed files with 118 additions and 13 deletions
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4
rclcpp_lifecycle/src/lifecycle_node.cpp
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@ -77,7 +77,9 @@ LifecycleNode::LifecycleNode(
node_clock_,
options.initial_parameters(),
options.use_intra_process_comms(),
options.start_parameter_services()
options.start_parameter_services(),
options.start_parameter_event_publisher(),
options.parameter_event_qos_profile()
)),
node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
use_intra_process_comms_(options.use_intra_process_comms()),