Declare parameters

Author: sloretz

demo_nodes_cpp/src/parameters/list_parameters.cpp

@@ -28,6 +28,14 @@ int main(int argc, char ** argv)
 
   auto node = rclcpp::Node::make_shared("list_parameters");
 
+  // Declare parameters that may be set on this node
+  node->create_parameter("foo");
+  node->create_parameter("bar");
+  node->create_parameter("baz");
+  node->create_parameter("foo.first");
+  node->create_parameter("foo.second");
+  node->create_parameter("foobar");
+
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   while (!parameters_client->wait_for_service(1s)) {
     if (!rclcpp::ok()) {

demo_nodes_cpp/src/parameters/list_parameters_async.cpp

@@ -28,7 +28,16 @@ int main(int argc, char ** argv)
 
   auto node = rclcpp::Node::make_shared("list_parameters_async");
 
+  // Declare parameters that may be set on this node
+  node->create_parameter("foo");
+  node->create_parameter("bar");
+  node->create_parameter("baz");
+  node->create_parameter("foo.first");
+  node->create_parameter("foo.second");
+  node->create_parameter("foobar");
+
   auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
+
   while (!parameters_client->wait_for_service(1s)) {
     if (!rclcpp::ok()) {
       RCLCPP_ERROR(node->get_logger(), "Interrupted while waiting for the service. Exiting.")

demo_nodes_cpp/src/parameters/parameter_events.cpp

@@ -50,6 +50,12 @@ int main(int argc, char ** argv)
 
   auto node = rclcpp::Node::make_shared("parameter_events");
 
+  // Declare parameters that may be set on this node
+  node->create_parameter("foo");
+  node->create_parameter("bar");
+  node->create_parameter("baz");
+  node->create_parameter("foobar");
+
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   while (!parameters_client->wait_for_service(1s)) {
     if (!rclcpp::ok()) {

demo_nodes_cpp/src/parameters/parameter_events_async.cpp

@@ -29,6 +29,12 @@ class ParameterEventsAsyncNode : public rclcpp::Node
   ParameterEventsAsyncNode()
   : Node("parameter_events")
   {
+    // Declare parameters that may be set on this node
+    create_parameter("foo");
+    create_parameter("bar");
+    create_parameter("baz");
+    create_parameter("foobar");
+
     // Typically a parameter client is created for a remote node by passing the name of the remote
     // node in the constructor; in this example we create a parameter client for this node itself.
     parameters_client_ = std::make_shared<rclcpp::AsyncParametersClient>(this);

demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp

@@ -29,6 +29,14 @@ int main(int argc, char ** argv)
 
   auto node = rclcpp::Node::make_shared("set_and_get_parameters");
 
+  // Declare parameters that may be set on this node
+  node->create_parameter("foo");
+  node->create_parameter("bar");
+  node->create_parameter("baz");
+  node->create_parameter("foobar");
+  node->create_parameter("foobarbaz");
+  node->create_parameter("toto");
+
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   while (!parameters_client->wait_for_service(1s)) {
     if (!rclcpp::ok()) {

demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp

@@ -29,6 +29,14 @@ int main(int argc, char ** argv)
 
   auto node = rclcpp::Node::make_shared("set_and_get_parameters_async");
 
+  // Declare parameters that may be set on this node
+  node->create_parameter("foo");
+  node->create_parameter("bar");
+  node->create_parameter("baz");
+  node->create_parameter("foobar");
+  node->create_parameter("foobarbaz");
+  node->create_parameter("toto");
+
   auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
   while (!parameters_client->wait_for_service(1s)) {
     if (!rclcpp::ok()) {