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Allow creating parameter client from constructor of Node subclass (#413)

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dhood 2017-12-03 17:12:43 -08:00 • committed by GitHub
parent e9f0328ec8
commit 8177771773
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2 changed files with 19 additions and 0 deletions
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6
rclcpp/include/rclcpp/parameter_client.hpp
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@ -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(

13
rclcpp/src/rclcpp/parameter_client.cpp
View file

@ -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,