adding node path and time stamp to parameter event message (#584)

modify adding clock for rclcpp_lifestyle

rclcpp/include/rclcpp/node.hpp

@@ -471,8 +471,8 @@ private:
   rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
   rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
   rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
   bool use_intra_process_comms_;

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -51,6 +51,7 @@ public:
     const node_interfaces::NodeBaseInterface::SharedPtr node_base,
     const node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
     const node_interfaces::NodeServicesInterface::SharedPtr node_services,
+    const node_interfaces::NodeClockInterface::SharedPtr node_clock,
     const std::vector<Parameter> & initial_parameters,
     bool use_intra_process,
     bool start_parameter_services);
@@ -120,6 +121,10 @@ private:
   Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
 
   std::shared_ptr<ParameterService> parameter_service_;
+
+  std::string combined_name_;
+
+  node_interfaces::NodeClockInterface::SharedPtr node_clock_;
 };
 
 }  // namespace node_interfaces

rclcpp/src/rclcpp/node.cpp

@@ -67,14 +67,6 @@ Node::Node(
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
   node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get())),
   node_services_(new rclcpp::node_interfaces::NodeServices(node_base_.get())),
-  node_parameters_(new rclcpp::node_interfaces::NodeParameters(
-      node_base_,
-      node_topics_,
-      node_services_,
-      initial_parameters,
-      use_intra_process_comms,
-      start_parameter_services
-    )),
   node_clock_(new rclcpp::node_interfaces::NodeClock(
       node_base_,
       node_topics_,
@@ -82,6 +74,15 @@ Node::Node(
       node_services_,
       node_logging_
     )),
+  node_parameters_(new rclcpp::node_interfaces::NodeParameters(
+      node_base_,
+      node_topics_,
+      node_services_,
+      node_clock_,
+      initial_parameters,
+      use_intra_process_comms,
+      start_parameter_services
+    )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
   use_intra_process_comms_(use_intra_process_comms)
 {

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -36,9 +36,11 @@ NodeParameters::NodeParameters(
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
   const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
   const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
+  const rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
   const std::vector<rclcpp::Parameter> & initial_parameters,
   bool use_intra_process,
   bool start_parameter_services)
+: node_clock_(node_clock)
 {
   using MessageT = rcl_interfaces::msg::ParameterEvent;
   using PublisherT = rclcpp::Publisher<MessageT>;
@@ -105,11 +107,11 @@ NodeParameters::NodeParameters(
     // Should never happen
     throw std::runtime_error("Node name and namespace were not set");
   }
-  std::string combined_name;
+
   if ('/' == node_namespace.at(node_namespace.size() - 1)) {
-    combined_name = node_namespace + node_name;
+    combined_name_ = node_namespace + node_name;
   } else {
-    combined_name = node_namespace + '/' + node_name;
+    combined_name_ = node_namespace + '/' + node_name;
   }
 
   std::map<std::string, rclcpp::Parameter> parameters;
@@ -131,7 +133,7 @@ NodeParameters::NodeParameters(
 
     rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(yaml_params);
     rcl_yaml_node_struct_fini(yaml_params);
-    auto iter = initial_map.find(combined_name);
+    auto iter = initial_map.find(combined_name_);
     if (initial_map.end() == iter) {
       continue;
     }
@@ -186,6 +188,8 @@ NodeParameters::set_parameters_atomically(
   std::map<std::string, rclcpp::Parameter> tmp_map;
   auto parameter_event = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
 
+  parameter_event->node = combined_name_;
+
   // TODO(jacquelinekay): handle parameter constraints
   rcl_interfaces::msg::SetParametersResult result;
   if (parameters_callback_) {
@@ -228,7 +232,7 @@ NodeParameters::set_parameters_atomically(
   }
 
   std::swap(tmp_map, parameters_);
-
+  parameter_event->stamp = node_clock_->get_clock()->now();
   events_publisher_->publish(parameter_event);
 
   return result;

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -519,8 +519,8 @@ private:
   rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
   rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
   rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
   bool use_intra_process_comms_;

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -74,14 +74,6 @@ LifecycleNode::LifecycleNode(
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
   node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get())),
   node_services_(new rclcpp::node_interfaces::NodeServices(node_base_.get())),
-  node_parameters_(new rclcpp::node_interfaces::NodeParameters(
-      node_base_,
-      node_topics_,
-      node_services_,
-      initial_parameters,
-      use_intra_process_comms,
-      start_parameter_services
-    )),
   node_clock_(new rclcpp::node_interfaces::NodeClock(
       node_base_,
       node_topics_,
@@ -89,6 +81,15 @@ LifecycleNode::LifecycleNode(
       node_services_,
       node_logging_
     )),  
+  node_parameters_(new rclcpp::node_interfaces::NodeParameters(
+      node_base_,
+      node_topics_,
+      node_services_,
+      node_clock_,
+      initial_parameters,
+      use_intra_process_comms,
+      start_parameter_services
+    )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
   use_intra_process_comms_(use_intra_process_comms),
   impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_))