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change ParameterEventHandler to take events as const ref instead of shared pointer #494

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Merged
wjwwood merged 3 commits into from
Apr 3, 2021
Merged

change ParameterEventHandler to take events as const ref instead of shared pointer #494

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89b5679
change ParameterEventHandler to take events as const ref instead of s…
wjwwood Apr 1, 2021
e9a4f79
Depend on rclcpp::rclcpp target
paudrow Apr 2, 2021
10ec361
Refactor to use ament_target_dependencies
paudrow Apr 2, 2021
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8 changes: 4 additions & 4 deletions demo_nodes_cpp/src/parameters/parameter_event_handler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,16 +105,16 @@ int main(int argc, char ** argv)

// We can also monitor all parameter changes and do our own filtering/searching
auto cb3 =
[fqn, remote_param_name, &node](const rcl_interfaces::msg::ParameterEvent::SharedPtr & event) {
[fqn, remote_param_name, &node](const rcl_interfaces::msg::ParameterEvent & event) {
// Use a regular expression to scan for any updates to parameters in "/a_namespace"
// as well as any parameter changes to our own node
std::regex re("(/a_namespace/.*)|(/this_node)");
if (regex_match(event->node, re)) {
if (regex_match(event.node, re)) {
// You can use 'get_parameter_from_event' if you know the node name and parameter name
// that you're looking for
rclcpp::Parameter p;
if (rclcpp::ParameterEventHandler::get_parameter_from_event(
*event, p,
event, p,
remote_param_name, fqn))
{
RCLCPP_INFO(
Expand All @@ -126,7 +126,7 @@ int main(int argc, char ** argv)

// You can also use 'get_parameter*s*_from_event' to enumerate all changes that came
// in on this event
auto params = rclcpp::ParameterEventHandler::get_parameters_from_event(*event);
auto params = rclcpp::ParameterEventHandler::get_parameters_from_event(event);
for (auto & p : params) {
RCLCPP_INFO(
node->get_logger(), "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
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28 changes: 12 additions & 16 deletions lifecycle/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,31 +17,27 @@ find_package(lifecycle_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

include_directories(
include
${std_msgs_INCLUDE_DIRS}
${lifecycle_msgs_INCLUDE_DIRS}
${rclcpp_lifecycle_INCLUDE_DIRS}
${rclcpp_INCLUDE_DIRS})

### demos
add_executable(lifecycle_talker
src/lifecycle_talker.cpp)
target_link_libraries(lifecycle_talker
${rclcpp_lifecycle_LIBRARIES}
${std_msgs_LIBRARIES}
ament_target_dependencies(lifecycle_talker
"lifecycle_msgs"
"rclcpp_lifecycle"
"std_msgs"
)
add_executable(lifecycle_listener
src/lifecycle_listener.cpp)
target_link_libraries(lifecycle_listener
${rclcpp_lifecycle_LIBRARIES}
${std_msgs_LIBRARIES}
ament_target_dependencies(lifecycle_listener
"lifecycle_msgs"
"rclcpp_lifecycle"
"std_msgs"
)
add_executable(lifecycle_service_client
src/lifecycle_service_client.cpp)
target_link_libraries(lifecycle_service_client
${rclcpp_lifecycle_LIBRARIES}
${std_msgs_LIBRARIES}
ament_target_dependencies(lifecycle_service_client
"lifecycle_msgs"
"rclcpp_lifecycle"
"std_msgs"
)

install(TARGETS
Expand Down