From 4a71a6a446b383b8236af659010c3815ba42ceb0 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve@osrfoundation.org>
Date: Tue, 19 May 2015 16:45:32 -0700
Subject: [PATCH] Made list, describe and get methods const

---
 rclcpp/include/rclcpp/node.hpp      | 22 +++++++++++-----------
 rclcpp/include/rclcpp/node_impl.hpp | 20 ++++++++++----------
 2 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 3849693..3661176 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -148,23 +148,23 @@ public:
     FunctorT callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  const std::vector<rcl_interfaces::SetParametersResult> set_parameters(
+  std::vector<rcl_interfaces::SetParametersResult> set_parameters(
     const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
 
-  const rcl_interfaces::SetParametersResult set_parameters_atomically(
+  rcl_interfaces::SetParametersResult set_parameters_atomically(
     const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
 
-  const std::vector<rclcpp::parameter::ParameterVariant> get_parameters(
-    const std::vector<std::string> & names);
+  std::vector<rclcpp::parameter::ParameterVariant> get_parameters(
+    const std::vector<std::string> & names) const;
 
-  const std::vector<rcl_interfaces::ParameterDescriptor> describe_parameters(
-    const std::vector<std::string> & names);
+  std::vector<rcl_interfaces::ParameterDescriptor> describe_parameters(
+    const std::vector<std::string> & names) const;
 
-  const std::vector<uint8_t> get_parameter_types(
-    const std::vector<std::string> & names);
+  std::vector<uint8_t> get_parameter_types(
+    const std::vector<std::string> & names) const;
 
-  const rcl_interfaces::ListParametersResult list_parameters(
-    const std::vector<std::string> & prefixes, uint64_t depth);
+  rcl_interfaces::ListParametersResult list_parameters(
+    const std::vector<std::string> & prefixes, uint64_t depth) const;
 
 private:
   RCLCPP_DISABLE_COPY(Node);
@@ -186,7 +186,7 @@ private:
   size_t number_of_services_;
   size_t number_of_clients_;
 
-  std::mutex mutex_;
+  mutable std::mutex mutex_;
 
   std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
 
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index 3133a96..185fd89 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -213,7 +213,7 @@ Node::create_service(
   return serv;
 }
 
-const std::vector<rcl_interfaces::SetParametersResult>
+std::vector<rcl_interfaces::SetParametersResult>
 Node::set_parameters(
   const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
 {
@@ -229,7 +229,7 @@ Node::set_parameters(
   return results;
 }
 
-const rcl_interfaces::SetParametersResult
+rcl_interfaces::SetParametersResult
 Node::set_parameters_atomically(
   const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
 {
@@ -246,9 +246,9 @@ Node::set_parameters_atomically(
   return result;
 }
 
-const std::vector<rclcpp::parameter::ParameterVariant>
+std::vector<rclcpp::parameter::ParameterVariant>
 Node::get_parameters(
-  const std::vector<std::string> & names)
+  const std::vector<std::string> & names) const
 {
   std::lock_guard<std::mutex> lock(mutex_);
   std::vector<rclcpp::parameter::ParameterVariant> results;
@@ -263,9 +263,9 @@ Node::get_parameters(
   return results;
 }
 
-const std::vector<rcl_interfaces::ParameterDescriptor>
+std::vector<rcl_interfaces::ParameterDescriptor>
 Node::describe_parameters(
-  const std::vector<std::string> & names)
+  const std::vector<std::string> & names) const
 {
   std::lock_guard<std::mutex> lock(mutex_);
   std::vector<rcl_interfaces::ParameterDescriptor> results;
@@ -283,9 +283,9 @@ Node::describe_parameters(
   return results;
 }
 
-const std::vector<uint8_t>
+std::vector<uint8_t>
 Node::get_parameter_types(
-  const std::vector<std::string> & names)
+  const std::vector<std::string> & names) const
 {
   std::lock_guard<std::mutex> lock(mutex_);
   std::vector<uint8_t> results;
@@ -302,9 +302,9 @@ Node::get_parameter_types(
   return results;
 }
 
-const rcl_interfaces::ListParametersResult
+rcl_interfaces::ListParametersResult
 Node::list_parameters(
-  const std::vector<std::string> & prefixes, uint64_t depth)
+  const std::vector<std::string> & prefixes, uint64_t depth) const
 {
   std::lock_guard<std::mutex> lock(mutex_);
   rcl_interfaces::ListParametersResult result;