dynamic_parameters_test_node.cpp

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#include <ros/ros.h>
 
#include <swri_roscpp/dynamic_parameters.h>
 
#include <boost/function.hpp>
#include <boost/bind/placeholders.hpp>
 
class DynamicParametersTestNode
{
public:
  DynamicParametersTestNode() :
    nh_("~")
  {
    // Setup a one-shot timer to initialize the node after a brief
    // delay so that /rosout is always fully initialized.
    ROS_INFO("Starting initialization timer...");
    init_timer_ = nh_.createWallTimer(ros::WallDuration(0.1),
                                      &DynamicParametersTestNode::initialize,
                                      this,
                                      true);
  }
 
  bool isTestBool() const
  {
    return test_bool_;
  }
 
  double getTestDouble() const
  {
    return test_double_;
  }
 
  int getTestInt() const
  {
    return test_int_;
  }
 
  float getTestFloat() const
  {
    return test_float_;
  }
 
  const std::string& getTestString() const
  {
    return test_string_;
  }
 
  const std::string& getTestEnum() const
  {
    return test_enum_;
  }
 
private:
  void initialize(const ros::WallTimerEvent &)
  {
    params_.initialize(nh_);
    params_.get("test_bool", test_bool_, false, "Test Bool");
    params_.get("test_double", test_double_, 0.0, "Test Double");
    params_.get("test_int", test_int_, 0, "Test Int");
    params_.get("test_float", test_float_, 0.0f, "Test Float");
    params_.get("test_string", test_string_, "", "Test String");
    std::vector<std::pair<std::string, int> > enums;
    enums.push_back({"First", 1});
    enums.push_back({"Second", 2});
    enums.push_back({"Third", 3});
    enums.push_back({"Zeroth", 0});
    params_.addEnums("test_int", enums);
    params_.finalize();
 
    params_.setCallback(boost::bind(&DynamicParametersTestNode::handleReconfigure, this, _1));
  }
 
  void handleReconfigure(swri::DynamicParameters& params)
  {
    ROS_INFO("handleReconfigure");
  }
 
  ros::NodeHandle nh_;
  ros::WallTimer init_timer_;
 
  swri::DynamicParameters params_;
 
  bool test_bool_{false};
  double test_double_{0.0};
  int test_int_{0};
  float test_float_{0.0};
  std::string test_string_;
  std::string test_enum_;
};
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "dynamic_parameters_test");
 
  DynamicParametersTestNode node;
  ros::spin();
 
  return 0;
}