15 #ifndef RCLCPP__PARAMETER_CLIENT_HPP_ 16 #define RCLCPP__PARAMETER_CLIENT_HPP_ 23 #include "rcl_interfaces/msg/parameter.hpp" 24 #include "rcl_interfaces/msg/parameter_event.hpp" 25 #include "rcl_interfaces/msg/parameter_value.hpp" 26 #include "rcl_interfaces/srv/describe_parameters.hpp" 27 #include "rcl_interfaces/srv/get_parameter_types.hpp" 28 #include "rcl_interfaces/srv/get_parameters.hpp" 29 #include "rcl_interfaces/srv/list_parameters.hpp" 30 #include "rcl_interfaces/srv/set_parameters.hpp" 31 #include "rcl_interfaces/srv/set_parameters_atomically.hpp" 51 const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
52 const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
53 const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
54 const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
60 const rclcpp::Node::SharedPtr node,
76 > callback =
nullptr);
84 > callback =
nullptr);
92 > callback =
nullptr);
100 > callback =
nullptr);
109 > callback =
nullptr);
114 typename SubscriptionT =
121 MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent, Alloc>::create_default();
123 using rcl_interfaces::msg::ParameterEvent;
125 ParameterEvent, CallbackT, Alloc, ParameterEvent, SubscriptionT>(
126 this->node_topics_interface_.get(),
128 std::forward<CallbackT>(callback),
129 rmw_qos_profile_default,
134 std::make_shared<Alloc>());
141 template<
typename RatioT = std::milli>
147 std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
157 const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface_;
160 get_parameter_types_client_;
163 set_parameters_atomically_client_;
166 describe_parameters_client_;
177 rclcpp::Node::SharedPtr node,
183 rclcpp::executor::Executor::SharedPtr executor,
184 rclcpp::Node::SharedPtr node,
205 return parameter_not_found_handler();
207 return static_cast<T
>(vars[0].get_value<T>());
217 std::function<T()>([&default_value]() -> T {
return default_value;}));
238 rcl_interfaces::msg::SetParametersResult
242 rcl_interfaces::msg::ListParametersResult
247 template<
typename CallbackT>
251 return async_parameters_client_->on_parameter_event(std::forward<CallbackT>(callback));
258 return async_parameters_client_->service_is_ready();
261 template<
typename RatioT = std::milli>
266 return async_parameters_client_->wait_for_service(timeout);
270 rclcpp::executor::Executor::SharedPtr executor_;
271 rclcpp::Node::SharedPtr node_;
272 AsyncParametersClient::SharedPtr async_parameters_client_;
277 #endif // RCLCPP__PARAMETER_CLIENT_HPP_ std::shared_future< std::vector< rclcpp::Parameter > > get_parameters(const std::vector< std::string > &names, std::function< void(std::shared_future< std::vector< rclcpp::Parameter >>) > callback=nullptr)
std::shared_ptr< SubscriptionT > create_subscription(rclcpp::node_interfaces::NodeTopicsInterface *node_topics, const std::string &topic_name, CallbackT &&callback, const rmw_qos_profile_t &qos_profile, rclcpp::callback_group::CallbackGroup::SharedPtr group, bool ignore_local_publications, bool use_intra_process_comms, typename rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >::SharedPtr msg_mem_strat, typename std::shared_ptr< AllocatorT > allocator)
Definition: create_subscription.hpp:36
Subscription implementation, templated on the type of message this subscription receives.
Definition: subscription.hpp:147
rcl_interfaces::msg::ListParametersResult list_parameters(const std::vector< std::string > ¶meter_prefixes, uint64_t depth)
bool service_is_ready() const
AsyncParametersClient(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface, const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface, const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface, const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface, const std::string &remote_node_name="", const rmw_qos_profile_t &qos_profile=rmw_qos_profile_parameters)
std::vector< rclcpp::Parameter > get_parameters(const std::vector< std::string > ¶meter_names)
bool wait_for_service(std::chrono::duration< int64_t, RatioT > timeout=std::chrono::duration< int64_t, RatioT >(-1))
Definition: parameter_client.hpp:263
rcl_interfaces::msg::SetParametersResult set_parameters_atomically(const std::vector< rclcpp::Parameter > ¶meters)
T get_parameter_impl(const std::string ¶meter_name, std::function< T()> parameter_not_found_handler)
Definition: parameter_client.hpp:198
rclcpp::Subscription< rcl_interfaces::msg::ParameterEvent >::SharedPtr on_parameter_event(CallbackT &&callback)
Definition: parameter_client.hpp:117
Definition: client.hpp:118
Definition: allocator_common.hpp:24
Definition: parameter_client.hpp:170
bool has_parameter(const std::string ¶meter_name)
std::vector< rcl_interfaces::msg::SetParametersResult > set_parameters(const std::vector< rclcpp::Parameter > ¶meters)
SyncParametersClient(rclcpp::Node::SharedPtr node, const std::string &remote_node_name="", const rmw_qos_profile_t &qos_profile=rmw_qos_profile_parameters)
#define RCLCPP_SMART_PTR_DEFINITIONS(...)
Definition: macros.hpp:36
T get_parameter(const std::string ¶meter_name, const T &default_value)
Definition: parameter_client.hpp:213
std::shared_future< rcl_interfaces::msg::SetParametersResult > set_parameters_atomically(const std::vector< rclcpp::Parameter > ¶meters, std::function< void(std::shared_future< rcl_interfaces::msg::SetParametersResult >) > callback=nullptr)
bool service_is_ready() const
Definition: parameter_client.hpp:256
std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > > set_parameters(const std::vector< rclcpp::Parameter > ¶meters, std::function< void(std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult >>) > callback=nullptr)
Default allocation strategy for messages received by subscriptions.
Definition: message_memory_strategy.hpp:38
Node is the single point of entry for creating publishers and subscribers.
Definition: node.hpp:65
bool wait_for_service(std::chrono::duration< int64_t, RatioT > timeout=std::chrono::duration< int64_t, RatioT >(-1))
Definition: parameter_client.hpp:143
std::shared_future< rcl_interfaces::msg::ListParametersResult > list_parameters(const std::vector< std::string > &prefixes, uint64_t depth, std::function< void(std::shared_future< rcl_interfaces::msg::ListParametersResult >) > callback=nullptr)
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
std::shared_future< std::vector< rclcpp::ParameterType > > get_parameter_types(const std::vector< std::string > &names, std::function< void(std::shared_future< std::vector< rclcpp::ParameterType >>) > callback=nullptr)
Definition: parameter_client.hpp:44
std::vector< rclcpp::ParameterType > get_parameter_types(const std::vector< std::string > ¶meter_names)
rclcpp::Subscription< rcl_interfaces::msg::ParameterEvent >::SharedPtr on_parameter_event(CallbackT &&callback)
Definition: parameter_client.hpp:249
Definition: parameter_value.hpp:33
T get_parameter(const std::string ¶meter_name)
Definition: parameter_client.hpp:222
bool wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)