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add add_on and remove_on

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Signed-off-by: claireyywang <22240514+claireyywang@users.noreply.github.com>
This commit is contained in:
claireyywang 2020-05-26 11:47:53 -07:00
parent 0ef9731feb
commit b3e526ce3c
2 changed files with 31 additions and 0 deletions
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20
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
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@ -447,9 +447,29 @@ public:
rcl_interfaces::msg::ListParametersResult
list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
using OnSetParametersCallbackHandle =
rclcpp::node_interfaces::OnSetParametersCallbackHandle;
using OnParametersSetCallbackType =
rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
/// Add a callback for when parameters are being set.
/**
* \sa rclcpp::Node::add_on_set_parameters_callback
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle::SharedPtr
add_on_set_parameters_callback(
rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);
/// Remove a callback registered with `add_on_set_parameters_callback`.
/**
* \sa rclcpp::Node::remove_on_set_parameters_callback
*/
RCLCPP_LIFECYCLE_PUBLIC
void
remove_on_set_parameters_callback(
const rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle * const handler);
/// Register a callback to be called anytime a parameter is about to be changed.
/**
* \sa rclcpp::Node::set_on_parameters_set_callback