Class NodeParametersInterface

Defined in File node_parameters_interface.hpp

Inheritance Relationships

Derived Type

public rclcpp::node_interfaces::NodeParameters (Class NodeParameters)

Class Documentation

class NodeParametersInterface

Pure virtual interface class for the NodeParameters part of the Node API.

Subclassed by rclcpp::node_interfaces::NodeParameters

Public Types

using OnSetParametersCallbackType = OnSetParametersCallbackHandle::OnSetParametersCallbackType 

using PostSetParametersCallbackType = PostSetParametersCallbackHandle::PostSetParametersCallbackType 

using PreSetParametersCallbackType = PreSetParametersCallbackHandle::PreSetParametersCallbackType 

Public Functions

virtual ~NodeParametersInterface() = default

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) = 0

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) = 0

Declare a parameter.

See also

rclcpp::Node::declare_parameter

virtual void undeclare_parameter(const std::string &name) = 0

Undeclare a parameter.

See also

rclcpp::Node::undeclare_parameter

virtual bool has_parameter(const std::string &name) const = 0

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) = 0

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) = 0

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 = 0: Get descriptions of parameters given their names.

virtual rclcpp::Parameter get_parameter(const std::string &name) const = 0: Get the description of one parameter given a name.

virtual bool get_parameter(const std::string &name, rclcpp::Parameter &parameter) const = 0: 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 = 0: 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 = 0

virtual std::vector<uint8_t> get_parameter_types(const std::vector<std::string> &names) const = 0

virtual rcl_interfaces::msg::ListParametersResult list_parameters(const std::vector<std::string> &prefixes, uint64_t depth) const = 0

virtual PreSetParametersCallbackHandle::SharedPtr add_pre_set_parameters_callback(PreSetParametersCallbackType callback) = 0

Add a callback that gets triggered before parameters are validated.

virtual OnSetParametersCallbackHandle::SharedPtr add_on_set_parameters_callback(OnSetParametersCallbackType callback) = 0

Add a callback to validate parameters before they are set.

virtual PostSetParametersCallbackHandle::SharedPtr add_post_set_parameters_callback(PostSetParametersCallbackType callback) = 0

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

virtual void remove_pre_set_parameters_callback(const PreSetParametersCallbackHandle *const handler) = 0

Remove a callback registered with add_pre_set_parameters_callback.

virtual void remove_on_set_parameters_callback(const OnSetParametersCallbackHandle *const handler) = 0

Remove a callback registered with add_on_set_parameters_callback.

virtual void remove_post_set_parameters_callback(const PostSetParametersCallbackHandle *const handler) = 0

Remove a callback registered with add_post_set_parameters_callback.

virtual const std::map<std::string, rclcpp::ParameterValue> &get_parameter_overrides() const = 0: Return the initial parameter values used by the NodeParameters to override default values.