use forward slashes instead of double underscores (#364)
* use forward slashes instead of double underscores * define parameter service suffixes in commonly shared header * style * forgot list_parameters * correct license year
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3 changed files with 48 additions and 11 deletions
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@ -19,6 +19,8 @@
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#include <string>
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#include <vector>
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#include "./parameter_service_names.hpp"
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using rclcpp::parameter_client::AsyncParametersClient;
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using rclcpp::parameter_client::SyncParametersClient;
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@ -34,15 +36,15 @@ AsyncParametersClient::AsyncParametersClient(
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remote_node_name_ = node_->get_name();
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}
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get_parameters_client_ = node_->create_client<rcl_interfaces::srv::GetParameters>(
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remote_node_name_ + "__get_parameters", qos_profile);
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remote_node_name_ + "/" + parameter_service_names::get_parameters, qos_profile);
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get_parameter_types_client_ = node_->create_client<rcl_interfaces::srv::GetParameterTypes>(
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remote_node_name_ + "__get_parameter_types", qos_profile);
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remote_node_name_ + "/" + parameter_service_names::get_parameter_types, qos_profile);
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set_parameters_client_ = node_->create_client<rcl_interfaces::srv::SetParameters>(
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remote_node_name_ + "__set_parameters", qos_profile);
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remote_node_name_ + "/" + parameter_service_names::set_parameters, qos_profile);
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list_parameters_client_ = node_->create_client<rcl_interfaces::srv::ListParameters>(
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remote_node_name_ + "__list_parameters", qos_profile);
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remote_node_name_ + "/" + parameter_service_names::list_parameters, qos_profile);
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describe_parameters_client_ = node_->create_client<rcl_interfaces::srv::DescribeParameters>(
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remote_node_name_ + "__describe_parameters", qos_profile);
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remote_node_name_ + "/" + parameter_service_names::describe_parameters, qos_profile);
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}
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std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
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@ -19,6 +19,8 @@
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#include <string>
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#include <vector>
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#include "./parameter_service_names.hpp"
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using rclcpp::parameter_service::ParameterService;
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ParameterService::ParameterService(
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@ -29,7 +31,7 @@ ParameterService::ParameterService(
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std::weak_ptr<rclcpp::node::Node> captured_node = node_;
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// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
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get_parameters_service_ = node_->create_service<rcl_interfaces::srv::GetParameters>(
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std::string(node_->get_name()) + "__get_parameters",
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std::string(node_->get_name()) + "/" + parameter_service_names::get_parameters,
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[captured_node](
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const std::shared_ptr<rmw_request_id_t>,
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const std::shared_ptr<rcl_interfaces::srv::GetParameters::Request> request,
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@ -48,7 +50,7 @@ ParameterService::ParameterService(
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);
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get_parameter_types_service_ = node_->create_service<rcl_interfaces::srv::GetParameterTypes>(
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std::string(node_->get_name()) + "__get_parameter_types",
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std::string(node_->get_name()) + "/" + parameter_service_names::get_parameter_types,
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[captured_node](
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const std::shared_ptr<rmw_request_id_t>,
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const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
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@ -68,7 +70,7 @@ ParameterService::ParameterService(
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);
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set_parameters_service_ = node_->create_service<rcl_interfaces::srv::SetParameters>(
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std::string(node_->get_name()) + "__set_parameters",
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std::string(node_->get_name()) + "/" + parameter_service_names::set_parameters,
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[captured_node](
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const std::shared_ptr<rmw_request_id_t>,
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const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
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@ -90,7 +92,7 @@ ParameterService::ParameterService(
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set_parameters_atomically_service_ =
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node_->create_service<rcl_interfaces::srv::SetParametersAtomically>(
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std::string(node_->get_name()) + "__set_parameters_atomically",
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std::string(node_->get_name()) + "/" + parameter_service_names::set_parameters_atomically,
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[captured_node](
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const std::shared_ptr<rmw_request_id_t>,
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const std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Request> request,
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@ -114,7 +116,7 @@ ParameterService::ParameterService(
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);
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describe_parameters_service_ = node_->create_service<rcl_interfaces::srv::DescribeParameters>(
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std::string(node_->get_name()) + "__describe_parameters",
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std::string(node_->get_name()) + "/" + parameter_service_names::describe_parameters,
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[captured_node](
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const std::shared_ptr<rmw_request_id_t>,
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const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
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@ -131,7 +133,7 @@ ParameterService::ParameterService(
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);
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list_parameters_service_ = node_->create_service<rcl_interfaces::srv::ListParameters>(
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std::string(node_->get_name()) + "__list_parameters",
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std::string(node_->get_name()) + "/" + parameter_service_names::list_parameters,
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[captured_node](
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const std::shared_ptr<rmw_request_id_t>,
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const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request> request,
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33
rclcpp/src/rclcpp/parameter_service_names.hpp
Normal file
33
rclcpp/src/rclcpp/parameter_service_names.hpp
Normal file
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@ -0,0 +1,33 @@
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// Copyright 2017 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__PARAMETER_SERVICE_NAMES_HPP_
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#define RCLCPP__PARAMETER_SERVICE_NAMES_HPP_
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namespace rclcpp
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{
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namespace parameter_service_names
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{
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static constexpr const char * get_parameters = "get_parameters";
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static constexpr const char * get_parameter_types = "get_parameter_types";
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static constexpr const char * set_parameters = "set_parameters";
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static constexpr const char * set_parameters_atomically = "set_parameters_atomically";
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static constexpr const char * describe_parameters = "describe_parameters";
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static constexpr const char * list_parameters = "list_parameters";
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} // namespace parameter_service_names
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} // namespace rclcpp
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#endif // RCLCPP__PARAMETER_SERVICE_NAMES_HPP_
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