Implementation of the NodeParameters part of the Node API. More...

#include <rclcpp/node_interfaces/node_parameters.hpp>

Inheritance diagram for rclcpp::node_interfaces::NodeParameters:

Collaboration diagram for rclcpp::node_interfaces::NodeParameters:

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

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

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

using	CallbacksContainerType = OnSetCallbacksHandleContainer

Public Types inherited from rclcpp::node_interfaces::NodeParametersInterface
using	OnSetParametersCallbackType = OnSetParametersCallbackHandle::OnSetParametersCallbackType

using	PostSetParametersCallbackType = PostSetParametersCallbackHandle::PostSetParametersCallbackType

using	PreSetParametersCallbackType = PreSetParametersCallbackHandle::PreSetParametersCallbackType

Public Member Functions
RCLCPP_PUBLIC	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. More...

RCLCPP_PUBLIC 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. More...

RCLCPP_PUBLIC 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. More...

RCLCPP_PUBLIC void	undeclare_parameter (const std::string &name) override
	Undeclare a parameter. More...

RCLCPP_PUBLIC bool	has_parameter (const std::string &name) const override
	Return true if the parameter has been declared, otherwise false. More...

RCLCPP_PUBLIC std::vector< rcl_interfaces::msg::SetParametersResult >	set_parameters (const std::vector< rclcpp::Parameter > &parameters) override
	Set one or more parameters, one at a time. More...

RCLCPP_PUBLIC rcl_interfaces::msg::SetParametersResult	set_parameters_atomically (const std::vector< rclcpp::Parameter > &parameters) override
	Set one or more parameters, all at once. More...

RCLCPP_PUBLIC std::vector< rclcpp::Parameter >	get_parameters (const std::vector< std::string > &names) const override
	Get descriptions of parameters given their names.

RCLCPP_PUBLIC rclcpp::Parameter	get_parameter (const std::string &name) const override
	Get the description of one parameter given a name.

RCLCPP_PUBLIC bool	get_parameter (const std::string &name, rclcpp::Parameter &parameter) const override
	Get the description of one parameter given a name.

RCLCPP_PUBLIC 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.

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

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

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

RCLCPP_PUBLIC RCUTILS_WARN_UNUSED PreSetParametersCallbackHandle::SharedPtr	add_pre_set_parameters_callback (PreSetParametersCallbackType callback) override
	Add a callback that gets triggered before parameters are validated. More...

RCLCPP_PUBLIC RCUTILS_WARN_UNUSED OnSetParametersCallbackHandle::SharedPtr	add_on_set_parameters_callback (OnSetParametersCallbackType callback) override
	Add a callback to validate parameters before they are set. More...

RCLCPP_PUBLIC RCUTILS_WARN_UNUSED PostSetParametersCallbackHandle::SharedPtr	add_post_set_parameters_callback (PostSetParametersCallbackType callback) override
	Add a callback that gets triggered after parameters are set successfully. More...

RCLCPP_PUBLIC void	remove_on_set_parameters_callback (const OnSetParametersCallbackHandle *const handler) override
	Remove a callback registered with `add_on_set_parameters_callback`. More...

RCLCPP_PUBLIC void	remove_post_set_parameters_callback (const PostSetParametersCallbackHandle *const handler) override
	Remove a callback registered with `add_post_set_parameters_callback`. More...

RCLCPP_PUBLIC void	remove_pre_set_parameters_callback (const PreSetParametersCallbackHandle *const handler) override
	Remove a callback registered with `add_pre_set_parameters_callback`. More...

RCLCPP_PUBLIC 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.

Protected Member Functions
RCLCPP_PUBLIC void	perform_automatically_declare_parameters_from_overrides ()

Detailed Description

Implementation of the NodeParameters part of the Node API.

Definition at line 83 of file node_parameters.hpp.

Constructor & Destructor Documentation

◆ NodeParameters()

NodeParameters::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.

Definition at line 67 of file node_parameters.cpp.

References rclcpp::PublisherOptionsWithAllocator< Allocator >::allocator, rcl_node_options_s::arguments, declare_parameter(), get_parameter_overrides(), has_parameter(), rcl_node_get_options(), and rcl_node_options_s::use_global_arguments.

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Member Function Documentation

◆ add_on_set_parameters_callback()

OnSetParametersCallbackHandle::SharedPtr NodeParameters::add_on_set_parameters_callback ( OnSetParametersCallbackType callback )

overridevirtual

Add a callback to validate parameters before they are set.

See also: rclcpp::Node::add_on_set_parameters_callback

Implements rclcpp::node_interfaces::NodeParametersInterface.

Definition at line 1163 of file node_parameters.cpp.

◆ add_post_set_parameters_callback()

PostSetParametersCallbackHandle::SharedPtr NodeParameters::add_post_set_parameters_callback ( PostSetParametersCallbackType callback )

overridevirtual

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

See also: rclcpp::Node::add_post_set_parameters_callback

Implements rclcpp::node_interfaces::NodeParametersInterface.

Definition at line 1176 of file node_parameters.cpp.

◆ add_pre_set_parameters_callback()

PreSetParametersCallbackHandle::SharedPtr NodeParameters::add_pre_set_parameters_callback ( PreSetParametersCallbackType callback )

overridevirtual

Add a callback that gets triggered before parameters are validated.

See also: rclcpp::Node::add_pre_set_parameters_callback

Implements rclcpp::node_interfaces::NodeParametersInterface.

Definition at line 1150 of file node_parameters.cpp.

◆ declare_parameter() [1/2]

const rclcpp::ParameterValue & NodeParameters::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`
	)

overridevirtual

Declare and initialize a parameter.

See also: rclcpp::Node::declare_parameter

Implements rclcpp::node_interfaces::NodeParametersInterface.

Definition at line 575 of file node_parameters.cpp.

Referenced by NodeParameters().

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◆ declare_parameter() [2/2]

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