Class SyncParametersClient

• Defined in File parameter_client.hpp

Class Documentation

class SyncParametersClient

Public Functions

template<typename NodeT>
inline explicit SyncParametersClient(std::shared_ptr<NodeT> node, const std::string &remote_node_name = "", const rmw_qos_profile_t &qos_profile = rmw_qos_profile_parameters)

template<typename NodeT>
inline SyncParametersClient(rclcpp::Executor::SharedPtr executor, std::shared_ptr<NodeT> node, const std::string &remote_node_name = "", const rmw_qos_profile_t &qos_profile = rmw_qos_profile_parameters)

template<typename NodeT>
inline explicit SyncParametersClient(NodeT *node, const std::string &remote_node_name = "", const rmw_qos_profile_t &qos_profile = rmw_qos_profile_parameters)

template<typename NodeT>
inline SyncParametersClient(rclcpp::Executor::SharedPtr executor, NodeT *node, const std::string &remote_node_name = "", const rmw_qos_profile_t &qos_profile = rmw_qos_profile_parameters)

inline SyncParametersClient(rclcpp::Executor::SharedPtr executor, 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)

template<typename RepT = int64_t, typename RatioT = std::milli>
inline std::vector<rclcpp::Parameter> get_parameters(const std::vector<std::string> &parameter_names, std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))

bool has_parameter(const std::string &parameter_name)

template<typename T>
inline T get_parameter_impl(const std::string &parameter_name, std::function<T()> parameter_not_found_handler)

template<typename T>
inline T get_parameter(const std::string &parameter_name, const T &default_value)

template<typename T>
inline T get_parameter(const std::string &parameter_name)

template<typename RepT = int64_t, typename RatioT = std::milli>
inline std::vector<rcl_interfaces::msg::ParameterDescriptor> describe_parameters(const std::vector<std::string> &parameter_names, std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))

template<typename RepT = int64_t, typename RatioT = std::milli>
inline std::vector<rclcpp::ParameterType> get_parameter_types(const std::vector<std::string> &parameter_names, std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))

template<typename RepT = int64_t, typename RatioT = std::milli>
inline std::vector<rcl_interfaces::msg::SetParametersResult> set_parameters(const std::vector<rclcpp::Parameter> &parameters, std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))

template<typename RepT = int64_t, typename RatioT = std::milli>
inline rcl_interfaces::msg::SetParametersResult set_parameters_atomically(const std::vector<rclcpp::Parameter> &parameters, std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))

template<typename RepT = int64_t, typename RatioT = std::milli>
inline std::vector<rcl_interfaces::msg::SetParametersResult> delete_parameters(const std::vector<std::string> &parameters_names, std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))

Delete several parameters at once.

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

Parameters:

• parameters_names – vector of parameters names

• timeout – for the spin used to make it synchronous

Returns:

the future of the set_parameter service used to delete the parameters

template<typename RepT = int64_t, typename RatioT = std::milli>
inline std::vector<rcl_interfaces::msg::SetParametersResult> load_parameters(const std::string &yaml_filename, std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))

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

• timeout – for the spin used to make it synchronous

Returns:

the future of the set_parameter service used to load the parameters

template<typename RepT = int64_t, typename RatioT = std::milli>
inline rcl_interfaces::msg::ListParametersResult list_parameters(const std::vector<std::string> &parameter_prefixes, uint64_t depth, std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))

template<typename CallbackT>
inline rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr on_parameter_event(CallbackT &&callback)

inline bool service_is_ready() const

template<typename RepT = int64_t, typename RatioT = std::milli>
inline bool wait_for_service(std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))

Public Static Functions

template<typename CallbackT, typename NodeT>
static inline rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr on_parameter_event(NodeT &&node, CallbackT &&callback)

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.

Protected Functions

std::vector<rclcpp::Parameter> get_parameters(const std::vector<std::string> &parameter_names, std::chrono::nanoseconds timeout)

std::vector<rcl_interfaces::msg::ParameterDescriptor> describe_parameters(const std::vector<std::string> &parameter_names, std::chrono::nanoseconds timeout)

std::vector<rclcpp::ParameterType> get_parameter_types(const std::vector<std::string> &parameter_names, std::chrono::nanoseconds timeout)

std::vector<rcl_interfaces::msg::SetParametersResult> set_parameters(const std::vector<rclcpp::Parameter> &parameters, std::chrono::nanoseconds timeout)

std::vector<rcl_interfaces::msg::SetParametersResult> delete_parameters(const std::vector<std::string> &parameters_names, std::chrono::nanoseconds timeout)

std::vector<rcl_interfaces::msg::SetParametersResult> load_parameters(const std::string &yaml_filename, std::chrono::nanoseconds timeout)

rcl_interfaces::msg::SetParametersResult set_parameters_atomically(const std::vector<rclcpp::Parameter> &parameters, std::chrono::nanoseconds timeout)

rcl_interfaces::msg::ListParametersResult list_parameters(const std::vector<std::string> &parameter_prefixes, uint64_t depth, std::chrono::nanoseconds timeout)