From 55da675bce98d0e7690b82ea011b2f4989ad2a52 Mon Sep 17 00:00:00 2001
From: Tully Foote <tfoote@osrfoundation.org>
Date: Mon, 17 Aug 2015 11:38:38 -0700
Subject: [PATCH] reorder iteration to fix output ordering

---
 rclcpp/include/rclcpp/node_impl.hpp         |  9 ++++++---
 rclcpp/include/rclcpp/parameter_service.hpp | 17 ++++++-----------
 2 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index 7752e38..9a8402a 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -30,6 +30,7 @@
 #include <rosidl_generator_cpp/service_type_support.hpp>
 
 #include <rclcpp/contexts/default_context.hpp>
+#include <rclcpp/parameter.hpp>
 
 #ifndef RCLCPP_RCLCPP_NODE_HPP_
 #include "node.hpp"
@@ -353,12 +354,14 @@ Node::get_parameters(
 {
   std::lock_guard<std::mutex> lock(mutex_);
   std::vector<rclcpp::parameter::ParameterVariant> results;
-  for (auto & kv : parameters_) {
-    if (std::any_of(names.cbegin(), names.cend(), [&kv](const std::string & name) {
+
+  for (auto & name : names) {
+    if (std::any_of(parameters_.cbegin(), parameters_.cend(),
+      [&name](const std::pair<std::string, rclcpp::parameter::ParameterVariant> & kv) {
       return name == kv.first;
     }))
     {
-      results.push_back(kv.second);
+      results.push_back(parameters_.at(name));
     }
   }
   return results;
diff --git a/rclcpp/include/rclcpp/parameter_service.hpp b/rclcpp/include/rclcpp/parameter_service.hpp
index a6d2a60..12beaff 100644
--- a/rclcpp/include/rclcpp/parameter_service.hpp
+++ b/rclcpp/include/rclcpp/parameter_service.hpp
@@ -53,11 +53,9 @@ public:
         std::shared_ptr<rcl_interfaces::srv::GetParameters::Response> response)
         {
           auto values = node->get_parameters(request->names);
-          std::transform(values.cbegin(), values.cend(), std::back_inserter(response->values),
-          [](const rclcpp::parameter::ParameterVariant & pvariant) {
-            return pvariant.
-            get_parameter_value();
-          });
+          for (auto & pvariant : values) {
+            response->values.push_back(pvariant.get_parameter_value());
+          }
         }
       );
 
@@ -82,12 +80,9 @@ public:
         std::shared_ptr<rcl_interfaces::srv::SetParameters::Response> response)
         {
           std::vector<rclcpp::parameter::ParameterVariant> pvariants;
-          std::transform(request->parameters.cbegin(), request->parameters.cend(),
-          std::back_inserter(pvariants),
-          [](const rcl_interfaces::msg::Parameter & p) {
-            return rclcpp::parameter::ParameterVariant::
-            from_parameter(p);
-          });
+          for (auto & p : request->parameters) {
+            pvariants.push_back(rclcpp::parameter::ParameterVariant::from_parameter(p));
+          }
           auto results = node->set_parameters(pvariants);
           response->results = results;
         }