Public Member Functions
RCLCPP_PUBLIC	AsyncParametersClient (const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface, const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface, const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface, const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface, const std::string &remote_node_name="", const rclcpp::QoS &qos_profile=rclcpp::ParametersQoS(), rclcpp::CallbackGroup::SharedPtr group=nullptr)
	Create an async parameters client. More...

template<typename NodeT >
	AsyncParametersClient (const std::shared_ptr< NodeT > node, const std::string &remote_node_name="", const rclcpp::QoS &qos_profile=rclcpp::ParametersQoS(), rclcpp::CallbackGroup::SharedPtr group=nullptr)

template<typename NodeT >
	AsyncParametersClient (NodeT *node, const std::string &remote_node_name="", const rclcpp::QoS &qos_profile=rclcpp::ParametersQoS(), rclcpp::CallbackGroup::SharedPtr group=nullptr)

RCLCPP_PUBLIC std::shared_future< std::vector< rclcpp::Parameter > >	get_parameters (const std::vector< std::string > &names, std::function< void(std::shared_future< std::vector< rclcpp::Parameter >>) > callback=nullptr)

RCLCPP_PUBLIC std::shared_future< std::vector< rcl_interfaces::msg::ParameterDescriptor > >	describe_parameters (const std::vector< std::string > &names, std::function< void(std::shared_future< std::vector< rcl_interfaces::msg::ParameterDescriptor >>) > callback=nullptr)

RCLCPP_PUBLIC std::shared_future< std::vector< rclcpp::ParameterType > >	get_parameter_types (const std::vector< std::string > &names, std::function< void(std::shared_future< std::vector< rclcpp::ParameterType >>) > callback=nullptr)

RCLCPP_PUBLIC std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > >	set_parameters (const std::vector< rclcpp::Parameter > &parameters, std::function< void(std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult >>) > callback=nullptr)

RCLCPP_PUBLIC std::shared_future< rcl_interfaces::msg::SetParametersResult >	set_parameters_atomically (const std::vector< rclcpp::Parameter > &parameters, std::function< void(std::shared_future< rcl_interfaces::msg::SetParametersResult >) > callback=nullptr)

RCLCPP_PUBLIC std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > >	delete_parameters (const std::vector< std::string > &parameters_names)
	Delete several parameters at once. More...

RCLCPP_PUBLIC std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > >	load_parameters (const std::string &yaml_filename)
	Load parameters from yaml file. More...

RCLCPP_PUBLIC std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > >	load_parameters (const rclcpp::ParameterMap &parameter_map)
	Load parameters from parameter map. More...

RCLCPP_PUBLIC std::shared_future< rcl_interfaces::msg::ListParametersResult >	list_parameters (const std::vector< std::string > &prefixes, uint64_t depth, std::function< void(std::shared_future< rcl_interfaces::msg::ListParametersResult >) > callback=nullptr)

template<typename CallbackT , typename AllocatorT = std::allocator<void>>
rclcpp::Subscription< rcl_interfaces::msg::ParameterEvent >::SharedPtr	on_parameter_event (CallbackT &&callback, const rclcpp::QoS &qos=rclcpp::ParameterEventsQoS(), const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options=(rclcpp::SubscriptionOptionsWithAllocator< AllocatorT >()))

RCLCPP_PUBLIC bool	service_is_ready () const
	Return if the parameter services are ready. More...

template<typename RepT = int64_t, typename RatioT = std::milli>
bool	wait_for_service (std::chrono::duration< RepT, RatioT > timeout=std::chrono::duration< RepT, RatioT >(-1))
	Wait for the services to be ready. More...

Static Public Member Functions
template<typename CallbackT , typename NodeT , typename AllocatorT = std::allocator<void>>
static rclcpp::Subscription< rcl_interfaces::msg::ParameterEvent >::SharedPtr	on_parameter_event (NodeT &&node, CallbackT &&callback, const rclcpp::QoS &qos=rclcpp::ParameterEventsQoS(), const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options=(rclcpp::SubscriptionOptionsWithAllocator< AllocatorT >()))

Protected Member Functions
RCLCPP_PUBLIC bool	wait_for_service_nanoseconds (std::chrono::nanoseconds timeout)

Detailed Description

Definition at line 50 of file parameter_client.hpp.

Constructor & Destructor Documentation

◆ AsyncParametersClient() [1/3]

AsyncParametersClient::AsyncParametersClient	(	const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_base_interface,
		const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr	node_topics_interface,
		const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr	node_graph_interface,
		const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr	node_services_interface,
		const std::string &	remote_node_name = `""`,
		const rclcpp::QoS &	qos_profile = `rclcpp::ParametersQoS()`,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

Create an async parameters client.

Parameters

[in]	node_base_interface	The node base interface of the corresponding node.
[in]	node_topics_interface	Node topic base interface.
[in]	node_graph_interface	The node graph interface of the corresponding node.
[in]	node_services_interface	Node service interface.
[in]	remote_node_name	(optional) name of the remote node
[in]	qos_profile	(optional) The qos profile to use to subscribe
[in]	group	(optional) The async parameter client will be added to this callback group.

Definition at line 32 of file parameter_client.cpp.

References rclcpp::QoS::get_rmw_qos_profile(), rcl_client_options_s::qos, and rcl_client_get_default_options().

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◆ AsyncParametersClient() [2/3]

template<typename NodeT >

rclcpp::AsyncParametersClient::AsyncParametersClient	(	const std::shared_ptr< NodeT >	node,
		const std::string &	remote_node_name = `""`,
		const rclcpp::QoS &	qos_profile = `rclcpp::ParametersQoS()`,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

inlineexplicit

Parameters

[in]	node	The async parameters client will be added to this node.
[in]	remote_node_name	(optional) name of the remote node
[in]	qos_profile	(optional) The qos profile to use to subscribe
[in]	group	(optional) The async parameter client will be added to this callback group.

Definition at line 82 of file parameter_client.hpp.

◆ AsyncParametersClient() [3/3]

template<typename NodeT >

rclcpp::AsyncParametersClient::AsyncParametersClient	(	NodeT *	node,
		const std::string &	remote_node_name = `""`,
		const rclcpp::QoS &	qos_profile = `rclcpp::ParametersQoS()`,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

inlineexplicit

Parameters

[in]	node	The async parameters client will be added to this node.
[in]	remote_node_name	(optional) name of the remote node
[in]	qos_profile	(optional) The qos profile to use to subscribe
[in]	group	(optional) The async parameter client will be added to this callback group.

Definition at line 104 of file parameter_client.hpp.

Member Function Documentation

◆ delete_parameters()

std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > > AsyncParametersClient::delete_parameters ( const std::vector< std::string > & parameters_names )

Delete several parameters at once.

This function behaves like command-line tool ros2 param delete would.

Parameters

parameters_names vector of parameters names

Returns: the future of the set_parameter service used to delete the parameters

Definition at line 277 of file parameter_client.cpp.

◆ load_parameters() [1/2]

std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > > AsyncParametersClient::load_parameters ( const rclcpp::ParameterMap & parameter_map )

Load parameters from parameter map.

This function filters the parameters to be set based on the node name.

If two duplicate keys exist in node names belongs to one FQN, there is no guarantee which one could be set.

Parameters

parameter_map named parameters to be loaded

Returns: the future of the set_parameter service used to load the parameters

Exceptions

InvalidParametersException if there is no parameter to set

Definition at line 306 of file parameter_client.cpp.

References rclcpp::parameters_from_map().

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◆ load_parameters() [2/2]

std::shared_future< std::vector< rcl_interfaces::msg::SetParametersResult > > AsyncParametersClient::load_parameters ( const std::string & yaml_filename )

Load parameters from yaml file.

This function behaves like command-line tool ros2 param load would.

Parameters

yaml_filename the full name of the yaml file

Returns: the future of the set_parameter service used to load the parameters

Definition at line 290 of file parameter_client.cpp.

References rclcpp::parameter_map_from_yaml_file().

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◆ on_parameter_event()

template<typename CallbackT , typename NodeT , typename AllocatorT = std::allocator<void>>

static rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr rclcpp::AsyncParametersClient::on_parameter_event	(	NodeT &&	node,
		CallbackT &&	callback,
		const rclcpp::QoS &	qos = `rclcpp::ParameterEventsQoS()`,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options = `( rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>() )`
	)

inlinestatic

The NodeT type only needs to have a method called get_node_topics_interface() which returns a shared_ptr to a NodeTopicsInterface, or be a NodeTopicsInterface pointer itself.

Definition at line 235 of file parameter_client.hpp.

◆ service_is_ready()

bool AsyncParametersClient::service_is_ready ( ) const

Return if the parameter services are ready.

This method checks the following services:

get parameter
get parameter
set parameters
list parameters
describe parameters

Returns: true if the service is ready, false otherwise

Definition at line 353 of file parameter_client.cpp.

References rclcpp::ClientBase::service_is_ready().

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◆ wait_for_service()

template<typename RepT = int64_t, typename RatioT = std::milli>

bool rclcpp::AsyncParametersClient::wait_for_service ( std::chrono::duration< RepT, RatioT > timeout = std::chrono::duration<RepT, RatioT>(-1) )

inline

Wait for the services to be ready.

Parameters

timeout maximum time to wait

Returns: true if the services are ready and the timeout is not over, false otherwise

Definition at line 273 of file parameter_client.hpp.

The documentation for this class was generated from the following files:

rclcpp/include/rclcpp/parameter_client.hpp
rclcpp/src/rclcpp/parameter_client.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ AsyncParametersClient() [1/3]

◆ AsyncParametersClient() [2/3]

◆ AsyncParametersClient() [3/3]

Member Function Documentation

◆ delete_parameters()

◆ load_parameters() [1/2]

◆ load_parameters() [2/2]

◆ on_parameter_event()

◆ service_is_ready()

◆ wait_for_service()