int main(int argc, char ** argv)
{
rclcpp::init(argc, 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::parameter_service::ParameterService>(node);
auto parameters_client = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(node);
// Set several differnet types of parameters.
auto results = parameters_client->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 2),
rclcpp::parameter::ParameterVariant("bar", "hello"),
rclcpp::parameter::ParameterVariant("baz", 1.45),
rclcpp::parameter::ParameterVariant("foo.first", 8),
rclcpp::parameter::ParameterVariant("foo.second", 42),
rclcpp::parameter::ParameterVariant("foobar", true),
});
// Wait for the result.
rclcpp::spin_until_future_complete(node, results);
// List the details of a few parameters up to a namespace depth of 10.
auto parameter_list_future = parameters_client->list_parameters({"foo", "bar"}, 10);
if (rclcpp::spin_until_future_complete(node, parameter_list_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
{
printf("list_parameters service call failed, exiting example.");
return -1;
}
auto parameter_list = parameter_list_future.get();
for (auto & name : parameter_list.names) {
std::cout << "Parameter name: " << name << std::endl;
}
for (auto & prefix : parameter_list.prefixes) {
std::cout << "Parameter prefix: " << prefix << std::endl;
}
return 0;
}
int main(int argc, const char **argv)
{
list_parameters(V);
}
