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Sync parameter events callbacks #50

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merged 1 commit into from
Jun 26, 2015
Merged

Sync parameter events callbacks #50

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9 changes: 8 additions & 1 deletion rclcpp/include/rclcpp/parameter_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -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_;
Expand Down