From 5c43e835c71b368595fac5bca9382042f26b91d8 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve@osrfoundation.org>
Date: Tue, 19 May 2015 16:35:38 -0700
Subject: [PATCH] Use rclcpp::parameter::ParameterVariant

---
 rclcpp/include/rclcpp/node.hpp      | 4 ++--
 rclcpp/include/rclcpp/node_impl.hpp | 8 ++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 2d34249..e12a866 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -149,10 +149,10 @@ public:
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
   const std::vector<rcl_interfaces::SetParametersResult> set_parameters(
-    const std::vector<rcl_interfaces::Parameter> & parameters);
+    const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
 
   const rcl_interfaces::SetParametersResult set_parameters_atomically(
-    const std::vector<rcl_interfaces::Parameter> & parameters);
+    const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
 
   const std::vector<rclcpp::parameter::ParameterVariant> get_parameters(
     const std::vector<std::string> & names);
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index 381b573..cb84d88 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -215,12 +215,12 @@ Node::create_service(
 
 const std::vector<rcl_interfaces::SetParametersResult>
 Node::set_parameters(
-  const std::vector<rcl_interfaces::Parameter> & parameters)
+  const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   std::vector<rcl_interfaces::SetParametersResult> results;
   for (auto p : parameters) {
-    parameters_[p.name] = rclcpp::parameter::ParameterVariant::from_parameter(p);
+    parameters_[p.get_name()] = p;
     rcl_interfaces::SetParametersResult result;
     result.successful = true;
     // TODO: handle parameter constraints
@@ -231,12 +231,12 @@ Node::set_parameters(
 
 const rcl_interfaces::SetParametersResult
 Node::set_parameters_atomically(
-  const std::vector<rcl_interfaces::Parameter> & parameters)
+  const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   std::map<std::string, rclcpp::parameter::ParameterVariant> tmp_map;
   for (auto p : parameters) {
-    tmp_map[p.name] = rclcpp::parameter::ParameterVariant::from_parameter(p);
+    tmp_map[p.get_name()] = p;
   }
   tmp_map.insert(parameters_.begin(), parameters_.end());
   std::swap(tmp_map, parameters_);