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Autostart parameter services (#478)

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* Autostart parameter services
* Add bool start_parameter_services
This commit is contained in:
Shane Loretz 2018-05-25 13:07:59 -07:00 • committed by GitHub
parent f9a78df9fe
commit d82ce9666c
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12 changed files with 153 additions and 103 deletions
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14
rclcpp_lifecycle/src/lifecycle_node.cpp
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@ -35,6 +35,7 @@
#include "rclcpp/node_interfaces/node_services.hpp"
#include "rclcpp/node_interfaces/node_timers.hpp"
#include "rclcpp/node_interfaces/node_topics.hpp"
#include "rclcpp/parameter_service.hpp"
#include "lifecycle_node_interface_impl.hpp" // implementation
@ -51,7 +52,8 @@ LifecycleNode::LifecycleNode(
rclcpp::contexts::default_context::get_global_default_context(),
{},
true,
use_intra_process_comms)
use_intra_process_comms,
true)
{}
LifecycleNode::LifecycleNode(
@ -60,7 +62,8 @@ LifecycleNode::LifecycleNode(
rclcpp::Context::SharedPtr context,
const std::vector<std::string> & arguments,
bool use_global_arguments,
bool use_intra_process_comms)
bool use_intra_process_comms,
bool start_parameter_services)
: node_base_(new rclcpp::node_interfaces::NodeBase(
node_name, namespace_, context, arguments, use_global_arguments)),
node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
@ -69,8 +72,11 @@ LifecycleNode::LifecycleNode(
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_topics_.get(),
use_intra_process_comms
node_base_,
node_topics_,
node_services_,
use_intra_process_comms,
start_parameter_services
)),
node_clock_(new rclcpp::node_interfaces::NodeClock(
node_base_,