Class NodeParameters

• Defined in File node_parameters.hpp

Inheritance Relationships

Base Type

• public rclcpp::node_interfaces::NodeParametersInterface (Class NodeParametersInterface)

Class Documentation

class NodeParameters : public rclcpp::node_interfaces::NodeParametersInterface

Implementation of the NodeParameters part of the Node API.

Public Types

using PreSetCallbacksHandleContainer = std::list<PreSetParametersCallbackHandle::WeakPtr>

using OnSetCallbacksHandleContainer = std::list<OnSetParametersCallbackHandle::WeakPtr>

using PostSetCallbacksHandleContainer = std::list<PostSetParametersCallbackHandle::WeakPtr>

using CallbacksContainerType = OnSetCallbacksHandleContainer

Public Functions

NodeParameters(const node_interfaces::NodeBaseInterface::SharedPtr node_base, const node_interfaces::NodeLoggingInterface::SharedPtr node_logging, const node_interfaces::NodeTopicsInterface::SharedPtr node_topics, const node_interfaces::NodeServicesInterface::SharedPtr node_services, const node_interfaces::NodeClockInterface::SharedPtr node_clock, const std::vector<Parameter> &parameter_overrides, bool start_parameter_services, bool start_parameter_event_publisher, const rclcpp::QoS &parameter_event_qos, const rclcpp::PublisherOptionsBase &parameter_event_publisher_options, bool allow_undeclared_parameters, bool automatically_declare_parameters_from_overrides)

Constructor.

If using automatically_declare_parameters_from_overrides, overrides of get_parameter_overrides(), has_parameter(), declare_parameter() will not be respected. If this is an issue, pass false for automatically_declare_parameters_from_overrides and invoke perform_automatically_declare_parameters_from_overrides() manually after construction.

virtual ~NodeParameters()

virtual const rclcpp::ParameterValue &declare_parameter(const std::string &name, const rclcpp::ParameterValue &default_value, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor = rcl_interfaces::msg::ParameterDescriptor{}, bool ignore_override = false) override

Declare and initialize a parameter.

See also

rclcpp::Node::declare_parameter

virtual const rclcpp::ParameterValue &declare_parameter(const std::string &name, rclcpp::ParameterType type, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor = rcl_interfaces::msg::ParameterDescriptor(), bool ignore_override = false) override

Declare a parameter.

See also

rclcpp::Node::declare_parameter

virtual void undeclare_parameter(const std::string &name) override

Undeclare a parameter.

See also

rclcpp::Node::undeclare_parameter

virtual bool has_parameter(const std::string &name) const override

Return true if the parameter has been declared, otherwise false.

See also

rclcpp::Node::has_parameter

virtual std::vector<rcl_interfaces::msg::SetParametersResult> set_parameters(const std::vector<rclcpp::Parameter> &parameters) override

Set one or more parameters, one at a time.

See also

rclcpp::Node::set_parameters

virtual rcl_interfaces::msg::SetParametersResult set_parameters_atomically(const std::vector<rclcpp::Parameter> &parameters) override

Set one or more parameters, all at once.

See also

rclcpp::Node::set_parameters_atomically

virtual std::vector<rclcpp::Parameter> get_parameters(const std::vector<std::string> &names) const override

Get descriptions of parameters given their names.

virtual rclcpp::Parameter get_parameter(const std::string &name) const override

Get the description of one parameter given a name.

virtual bool get_parameter(const std::string &name, rclcpp::Parameter &parameter) const override

Get the description of one parameter given a name.

virtual bool get_parameters_by_prefix(const std::string &prefix, std::map<std::string, rclcpp::Parameter> &parameters) const override

Get all parameters that have the specified prefix into the parameters map.

virtual std::vector<rcl_interfaces::msg::ParameterDescriptor> describe_parameters(const std::vector<std::string> &names) const override

virtual std::vector<uint8_t> get_parameter_types(const std::vector<std::string> &names) const override

virtual rcl_interfaces::msg::ListParametersResult list_parameters(const std::vector<std::string> &prefixes, uint64_t depth) const override

virtual PreSetParametersCallbackHandle::SharedPtr add_pre_set_parameters_callback(PreSetParametersCallbackType callback) override

Add a callback that gets triggered before parameters are validated.

See also

rclcpp::Node::add_pre_set_parameters_callback

virtual OnSetParametersCallbackHandle::SharedPtr add_on_set_parameters_callback(OnSetParametersCallbackType callback) override

Add a callback to validate parameters before they are set.

See also

rclcpp::Node::add_on_set_parameters_callback

virtual PostSetParametersCallbackHandle::SharedPtr add_post_set_parameters_callback(PostSetParametersCallbackType callback) override

Add a callback that gets triggered after parameters are set successfully.

See also

rclcpp::Node::add_post_set_parameters_callback

virtual void remove_on_set_parameters_callback(const OnSetParametersCallbackHandle *const handler) override

Remove a callback registered with add_on_set_parameters_callback.

See also

rclcpp::Node::remove_on_set_parameters_callback

virtual void remove_post_set_parameters_callback(const PostSetParametersCallbackHandle *const handler) override

Remove a callback registered with add_post_set_parameters_callback.

See also

rclcpp::Node::remove_post_set_parameters_callback

virtual void remove_pre_set_parameters_callback(const PreSetParametersCallbackHandle *const handler) override

Remove a callback registered with add_pre_set_parameters_callback.

See also

rclcpp::Node::remove_pre_set_parameters_callback

virtual const std::map<std::string, rclcpp::ParameterValue> &get_parameter_overrides() const override

Return the initial parameter values used by the NodeParameters to override default values.

virtual void enable_parameter_modification() override

Enable parameter modification recursively during parameter callbacks.

This function is used to enable parameter modification during parameter callbacks.

There are times when it does not allow parameter modification, such as when the parameter callbacks are being called and tries to modify the parameters with set_parameter and declare_parameter to avoid recursive parameter modification. This is protected by rclcpp::node_interfaces::ParameterMutationRecursionGuard.

This function is explicitly called to allow the recursive parameter operation during parameter callbacks by the application. Once it is enabled, the next parameter operation set/declare/undeclare_parameter are allowed to execute in the parameter callback. But, no more further recursive operation is allowed, unless user application calls this API again.

Protected Functions

void perform_automatically_declare_parameters_from_overrides()