#include <parameter_client.hpp>

Public Member Functions
	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, rclcpp::CallbackGroup::SharedPtr group=nullptr)
	Create an async parameters client. More...

template<typename NodeT >
	AsyncParametersClient (const std::shared_ptr< NodeT > node, const std::string &remote_node_name="", const rmw_qos_profile_t &qos_profile=rmw_qos_profile_parameters, rclcpp::CallbackGroup::SharedPtr group=nullptr)
	Constructor. More...

template<typename NodeT >
	AsyncParametersClient (NodeT *node, const std::string &remote_node_name="", const rmw_qos_profile_t &qos_profile=rmw_qos_profile_parameters, rclcpp::CallbackGroup::SharedPtr group=nullptr)
	Constructor. More...

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_future< std::vector< rcl_interfaces::msg::ParameterDescriptor > >	describe_parameters (const std::vector< std::string > &names, std::function< void(std::shared_future< std::vector< rcl_interfaces::msg::ParameterDescriptor >>) > callback=nullptr)

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)

std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > >	set_parameters (const std::vector< rclcpp::Parameter > &parameters, std::function< void(std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult >>) > callback=nullptr)

std::shared_future< rcl_interfaces::msg::SetParametersResult >	set_parameters_atomically (const std::vector< rclcpp::Parameter > &parameters, std::function< void(std::shared_future< rcl_interfaces::msg::SetParametersResult >) > callback=nullptr)

std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > >	delete_parameters (const std::vector< std::string > &parameters_names)
	Delete several parameters at once. More...

std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > >	load_parameters (const std::string &yaml_filename)
	Load parameters from yaml file. More...

std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > >	load_parameters (const rclcpp::ParameterMap &parameter_map)
	Load parameters from parameter map. More...

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)

template<typename CallbackT , typename AllocatorT = std::allocator<void>>
rclcpp::Subscription< rcl_interfaces::msg::ParameterEvent >::SharedPtr	on_parameter_event (CallbackT &&callback, const rclcpp::QoS &qos=(rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events))), const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options=(rclcpp::SubscriptionOptionsWithAllocator< AllocatorT >()))

bool	service_is_ready () const
	Return if the parameter services are ready. More...

template<typename RepT = int64_t, typename RatioT = std::milli>
bool	wait_for_service (std::chrono::duration< RepT, RatioT > timeout=std::chrono::duration< RepT, RatioT >(-1))
	Wait for the services to be ready. More...

Static Public Member Functions
template<typename CallbackT , typename NodeT , typename AllocatorT = std::allocator<void>>
static rclcpp::Subscription< rcl_interfaces::msg::ParameterEvent >::SharedPtr	on_parameter_event (NodeT &&node, CallbackT &&callback, const rclcpp::QoS &qos=(rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events))), const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options=(rclcpp::SubscriptionOptionsWithAllocator< AllocatorT >()))

Protected Member Functions
bool	wait_for_service_nanoseconds (std::chrono::nanoseconds timeout)

Constructor & Destructor Documentation

◆ AsyncParametersClient() [1/3]

rclcpp::AsyncParametersClient::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`,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

Create an async parameters client.

Parameters

[in]	node_base_interface	The node base interface of the corresponding node.
[in]	node_topics_interface	Node topic base interface.
[in]	node_graph_interface	The node graph interface of the corresponding node.
[in]	node_services_interface	Node service interface.
[in]	remote_node_name	(optional) name of the remote node
[in]	qos_profile	(optional) The rmw qos profile to use to subscribe
[in]	group	(optional) The async parameter client will be added to this callback group.

◆ AsyncParametersClient() [2/3]

template<typename NodeT >

rclcpp::AsyncParametersClient::AsyncParametersClient	(	const std::shared_ptr< NodeT >	node,
		const std::string &	remote_node_name = `""`,
		const rmw_qos_profile_t &	qos_profile = `rmw_qos_profile_parameters`,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

inline

Constructor.

Parameters

[in]	node	The async paramters client will be added to this node.
[in]	remote_node_name	(optional) name of the remote node
[in]	qos_profile	(optional) The rmw qos profile to use to subscribe
[in]	group	(optional) The async parameter client will be added to this callback group.

◆ AsyncParametersClient() [3/3]

template<typename NodeT >

rclcpp::AsyncParametersClient::AsyncParametersClient	(	NodeT *	node,
		const std::string &	remote_node_name = `""`,
		const rmw_qos_profile_t &	qos_profile = `rmw_qos_profile_parameters`,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

inline

Constructor.

Parameters

[in]	node	The async paramters client will be added to this node.
[in]	remote_node_name	(optional) name of the remote node
[in]	qos_profile	(optional) The rmw qos profile to use to subscribe
[in]	group	(optional) The async parameter client will be added to this callback group.

Member Function Documentation

◆ get_parameters()

std::shared_future<std::vector<rclcpp::Parameter> > rclcpp::AsyncParametersClient::get_parameters	(	const std::vector< std::string > &	names,
		std::function< void(std::shared_future< std::vector< rclcpp::Parameter >>) >	callback = `nullptr`
	)

◆ describe_parameters()

std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor> > rclcpp::AsyncParametersClient::describe_parameters	(	const std::vector< std::string > &	names,
		std::function< void(std::shared_future< std::vector< rcl_interfaces::msg::ParameterDescriptor >>) >	callback = `nullptr`
	)

◆ get_parameter_types()

std::shared_future<std::vector<rclcpp::ParameterType> > rclcpp::AsyncParametersClient::get_parameter_types	(	const std::vector< std::string > &	names,
		std::function< void(std::shared_future< std::vector< rclcpp::ParameterType >>) >	callback = `nullptr`
	)

◆ set_parameters()

std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult> > rclcpp::AsyncParametersClient::set_parameters	(	const std::vector< rclcpp::Parameter > &	parameters,
		std::function< void(std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult >>) >	callback = `nullptr`
	)

◆ set_parameters_atomically()

std::shared_future<rcl_interfaces::msg::SetParametersResult> rclcpp::AsyncParametersClient::set_parameters_atomically	(	const std::vector< rclcpp::Parameter > &	parameters,
		std::function< void(std::shared_future< rcl_interfaces::msg::SetParametersResult >) >	callback = `nullptr`
	)

◆ delete_parameters()

std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult> > rclcpp::AsyncParametersClient::delete_parameters ( const std::vector< std::string > & parameters_names )

Delete several parameters at once.

This function behaves like command-line tool ros2 param delete would.

Parameters

parameters_names vector of parameters names

Returns: the future of the set_parameter service used to delete the parameters

◆ load_parameters() [1/2]

std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult> > rclcpp::AsyncParametersClient::load_parameters ( const std::string & yaml_filename )

Load parameters from yaml file.

This function behaves like command-line tool ros2 param load would.

Parameters

yaml_filename the full name of the yaml file

Returns: the future of the set_parameter service used to load the parameters

◆ load_parameters() [2/2]

std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult> > rclcpp::AsyncParametersClient::load_parameters ( const rclcpp::ParameterMap & parameter_map )

Load parameters from parameter map.

This function filters the parameters to be set based on the node name.

Parameters

yaml_filename the full name of the yaml file

Returns: the future of the set_parameter service used to load the parameters

Exceptions

InvalidParametersException if there is no parameter to set

◆ list_parameters()

std::shared_future<rcl_interfaces::msg::ListParametersResult> rclcpp::AsyncParametersClient::list_parameters	(	const std::vector< std::string > &	prefixes,
		uint64_t	depth,
		std::function< void(std::shared_future< rcl_interfaces::msg::ListParametersResult >) >	callback = `nullptr`
	)

◆ on_parameter_event() [1/2]

template<typename CallbackT , typename AllocatorT = std::allocator<void>>

rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr rclcpp::AsyncParametersClient::on_parameter_event	(	CallbackT &&	callback,
		const rclcpp::QoS &	qos = `( rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)) )`,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options = `( rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>() )`
	)

inline

◆ on_parameter_event() [2/2]

template<typename CallbackT , typename NodeT , typename AllocatorT = std::allocator<void>>

static rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr rclcpp::AsyncParametersClient::on_parameter_event	(	NodeT &&	node,
		CallbackT &&	callback,
		const rclcpp::QoS &	qos = `( rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)) )`,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options = `( rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>() )`
	)

inlinestatic

The NodeT type only needs to have a method called get_node_topics_interface() which returns a shared_ptr to a NodeTopicsInterface, or be a NodeTopicsInterface pointer itself.

◆ service_is_ready()

bool rclcpp::AsyncParametersClient::service_is_ready ( ) const

Return if the parameter services are ready.

This method checks the following services:

get parameter
get parameter
set parameters
list parameters
describe parameters

Returns: true if the service is ready, false otherwise

◆ wait_for_service()

template<typename RepT = int64_t, typename RatioT = std::milli>

bool rclcpp::AsyncParametersClient::wait_for_service ( std::chrono::duration< RepT, RatioT > timeout = std::chrono::duration<RepT, RatioT>(-1) )

inline

Wait for the services to be ready.

Parameters

timeout maximum time to wait

Returns: true if the services are ready and the timeout is not over, false otherwise

◆ wait_for_service_nanoseconds()

bool rclcpp::AsyncParametersClient::wait_for_service_nanoseconds ( std::chrono::nanoseconds timeout )

protected

The documentation for this class was generated from the following file:

include/rclcpp/parameter_client.hpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

◆ AsyncParametersClient() [1/3]

◆ AsyncParametersClient() [2/3]

◆ AsyncParametersClient() [3/3]

Member Function Documentation

◆ get_parameters()

◆ describe_parameters()

◆ get_parameter_types()

◆ set_parameters()

◆ set_parameters_atomically()

◆ delete_parameters()

◆ load_parameters() [1/2]

◆ load_parameters() [2/2]

◆ list_parameters()

◆ on_parameter_event() [1/2]

◆ on_parameter_event() [2/2]

◆ service_is_ready()

◆ wait_for_service()

◆ wait_for_service_nanoseconds()