From 817777177395c07ae731457545b7f8aa849f9c31 Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Sun, 3 Dec 2017 17:12:43 -0800
Subject: [PATCH] Allow creating parameter client from constructor of Node
 subclass (#413)

---
 rclcpp/include/rclcpp/parameter_client.hpp |  6 ++++++
 rclcpp/src/rclcpp/parameter_client.cpp     | 13 +++++++++++++
 2 files changed, 19 insertions(+)

diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
index 8d51c61..117e74a 100644
--- a/rclcpp/include/rclcpp/parameter_client.hpp
+++ b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -63,6 +63,12 @@ public:
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
+  RCLCPP_PUBLIC
+  AsyncParametersClient(
+    rclcpp::node::Node * node,
+    const std::string & remote_node_name = "",
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
+
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
   get_parameters(
diff --git a/rclcpp/src/rclcpp/parameter_client.cpp b/rclcpp/src/rclcpp/parameter_client.cpp
index 2be291e..6c3e43d 100644
--- a/rclcpp/src/rclcpp/parameter_client.cpp
+++ b/rclcpp/src/rclcpp/parameter_client.cpp
@@ -101,6 +101,19 @@ AsyncParametersClient::AsyncParametersClient(
     qos_profile)
 {}
 
+AsyncParametersClient::AsyncParametersClient(
+  rclcpp::node::Node * node,
+  const std::string & remote_node_name,
+  const rmw_qos_profile_t & qos_profile)
+: AsyncParametersClient(
+    node->get_node_base_interface(),
+    node->get_node_topics_interface(),
+    node->get_node_graph_interface(),
+    node->get_node_services_interface(),
+    remote_node_name,
+    qos_profile)
+{}
+
 std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
 AsyncParametersClient::get_parameters(
   const std::vector<std::string> & names,