Merge pull request #50 from ros2/sync-parameter-events-callbacks

Add support for on_parameter_event to the SyncParametersClient
ros2 · Jun 26, 2015 · 5baa519 · 5baa519
2 parents 8119064 + 2917aed
commit 5baa519
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -229,7 +229,7 @@ class AsyncParametersClient
 
   template<typename FunctorT>
   typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
-  on_parameter_event(FunctorT callback)
+  on_parameter_event(FunctorT & callback)
   {
     // TODO(esteve): remove hardcoded values
     return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>("parameter_events",
@@ -308,6 +308,13 @@ class SyncParametersClient
     return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
   }
 
+  template<typename FunctorT>
+  typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
+  on_parameter_event(FunctorT & callback)
+  {
+    return async_parameters_client_->on_parameter_event(callback);
+  }
+
 private:
   rclcpp::executor::Executor::SharedPtr executor_;
   rclcpp::node::Node::SharedPtr node_;