Program Listing for File ros_param_backend.h
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// Copyright 2023 Intel Corporation. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#include <rclcpp/rclcpp.hpp>
namespace realsense2_camera
{
class ParametersBackend
{
public:
ParametersBackend(rclcpp::Node& node) :
_node(node),
_logger(node.get_logger())
{}
~ParametersBackend();
#if defined( RCLCPP_HAS_OnSetParametersCallbackType )
using ros2_param_callback_type = rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType;
#else
using ros2_param_callback_type = rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
#endif
void add_on_set_parameters_callback(ros2_param_callback_type callback);
private:
rclcpp::Node& _node;
rclcpp::Logger _logger;
std::shared_ptr<void> _ros_callback;
};
}