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Merged
sloretz merged 1 commit into from
May 25, 2018
Merged

Parameter services automatically start #236

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3 changes: 0 additions & 3 deletions demo_nodes_cpp/src/parameters/list_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,6 @@ int main(int argc, char ** argv)

auto node = rclcpp::Node::make_shared("list_parameters");

// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);

auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
while (!parameters_client->wait_for_service(1s)) {
if (!rclcpp::ok()) {
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3 changes: 0 additions & 3 deletions demo_nodes_cpp/src/parameters/list_parameters_async.cpp
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Expand Up @@ -28,9 +28,6 @@ int main(int argc, char ** argv)

auto node = rclcpp::Node::make_shared("list_parameters_async");

// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);

auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
while (!parameters_client->wait_for_service(1s)) {
if (!rclcpp::ok()) {
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3 changes: 0 additions & 3 deletions demo_nodes_cpp/src/parameters/parameter_events.cpp
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Expand Up @@ -50,9 +50,6 @@ int main(int argc, char ** argv)

auto node = rclcpp::Node::make_shared("parameter_events");

// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);

auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
while (!parameters_client->wait_for_service(1s)) {
if (!rclcpp::ok()) {
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2 changes: 0 additions & 2 deletions demo_nodes_cpp/src/parameters/parameter_events_async.cpp
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Expand Up @@ -133,8 +133,6 @@ int main(int argc, char ** argv)
rclcpp::init(argc, argv);

auto node = std::make_shared<ParameterEventsAsyncNode>();
// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);

rclcpp::spin(node);
rclcpp::shutdown();
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2 changes: 0 additions & 2 deletions demo_nodes_cpp/src/parameters/parameter_node.cpp
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Expand Up @@ -62,8 +62,6 @@ int main(int argc, char ** argv)
rclcpp::init(argc, argv);

auto node = std::make_shared<ParameterNode>();
// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);

rclcpp::spin(node);
rclcpp::shutdown();
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1 change: 0 additions & 1 deletion demo_nodes_cpp/src/parameters/ros2param.cpp
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Expand Up @@ -108,7 +108,6 @@ int main(int argc, char ** argv)
auto node = rclcpp::Node::make_shared("ros2param");
auto parameters_client =
std::make_shared<rclcpp::AsyncParametersClient>(node, remote_node);
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
while (!parameters_client->wait_for_service(1s)) {
if (!rclcpp::ok()) {
RCLCPP_ERROR(node->get_logger(), "Interrupted while waiting for the service. Exiting.")
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3 changes: 0 additions & 3 deletions demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
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Expand Up @@ -29,9 +29,6 @@ int main(int argc, char ** argv)

auto node = rclcpp::Node::make_shared("set_and_get_parameters");

// TODO(wjwwood): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);

auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
while (!parameters_client->wait_for_service(1s)) {
if (!rclcpp::ok()) {
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3 changes: 0 additions & 3 deletions demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,9 +29,6 @@ int main(int argc, char ** argv)

auto node = rclcpp::Node::make_shared("set_and_get_parameters_async");

// TODO(wjwwood): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);

auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
while (!parameters_client->wait_for_service(1s)) {
if (!rclcpp::ok()) {
Expand Down