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Merge pull request #50 from ros2/sync-parameter-events-callbacks

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Add support for on_parameter_event to the SyncParametersClient
This commit is contained in:
Esteve Fernandez 2015-06-26 10:29:21 -07:00
commit 5baa5195db
1 changed files with 8 additions and 1 deletions
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9
rclcpp/include/rclcpp/parameter_client.hpp
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@ -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_;