Declare parameters

demo_nodes_cpp/src/parameters/even_parameters_node.cpp

@@ -26,10 +26,19 @@ class EvenParameterNode : public rclcpp::Node
     // Declare a parameter change request callback
     // This function will enforce that only setting even integer parameters is allowed
     // any other change will be discarded
+    auto existing_callback = this->set_on_parameters_set_callback(nullptr);
     auto param_change_callback =
-      [this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult
+      [this, existing_callback](std::vector<rclcpp::Parameter> parameters)
       {
         auto result = rcl_interfaces::msg::SetParametersResult();
+        // first call the existing callback, if there was one
+        if (nullptr != existing_callback) {
+          result = existing_callback(parameters);
+          // if the existing callback failed, go ahead and return the result
+          if (!result.successful) {
+            return result;
+          }
+        }
         result.successful = true;
         for (auto parameter : parameters) {
           rclcpp::ParameterType parameter_type = parameter.get_type();
@@ -67,7 +76,7 @@ class EvenParameterNode : public rclcpp::Node
         }
         return result;
       };
-    this->register_param_change_callback(param_change_callback);
+    this->set_on_parameters_set_callback(param_change_callback);
   }
 };
 

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->declare_parameter("foo");
+  node->declare_parameter("bar");
+  node->declare_parameter("baz");
+  node->declare_parameter("foo.first");
+  node->declare_parameter("foo.second");
+  node->declare_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->declare_parameter("foo");
+  node->declare_parameter("bar");
+  node->declare_parameter("baz");
+  node->declare_parameter("foo.first");
+  node->declare_parameter("foo.second");
+  node->declare_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->declare_parameter("foo");
+  node->declare_parameter("bar");
+  node->declare_parameter("baz");
+  node->declare_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
+    this->declare_parameter("foo");
+    this->declare_parameter("bar");
+    this->declare_parameter("baz");
+    this->declare_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->declare_parameter("foo");
+  node->declare_parameter("bar");
+  node->declare_parameter("baz");
+  node->declare_parameter("foobar");
+  node->declare_parameter("foobarbaz");
+  node->declare_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->declare_parameter("foo");
+  node->declare_parameter("bar");
+  node->declare_parameter("baz");
+  node->declare_parameter("foobar");
+  node->declare_parameter("foobarbaz");
+  node->declare_parameter("toto");
+
   auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
   while (!parameters_client->wait_for_service(1s)) {
     if (!rclcpp::ok()) {