Merge pull request #59 from spiralray/dev/distribute_params_cpp

imprement Consai2r2ParametersClient library for C++ node

Author: ShotaAk

consai2r2_description/CMakeLists.txt

@@ -46,6 +46,15 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/
 )
 
+install(DIRECTORY
+  include
+  DESTINATION .
+)
+
+ament_export_include_directories(include)
+ament_export_dependencies(ament_cmake)
+ament_export_dependencies(python_cmake_module)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights

consai2r2_description/include/consai2r2_description/parameters.hpp

@@ -0,0 +1,84 @@
+// Copyright (c) 2019 SSL-Roots
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+#ifndef CONSAI2R2_DESCRIPTION__PARAMETERS_HPP_
+#define CONSAI2R2_DESCRIPTION__PARAMETERS_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <chrono>
+#include <memory>
+#include <stdexcept>
+#include <string>
+
+using std::placeholders::_1;
+
+
+namespace consai2r2
+{
+
+namespace description
+{
+
+struct Parameters
+{
+public:
+  int max_id;
+  std::string our_side;
+  std::string our_color;
+
+  Parameters()
+  {
+    max_id = 15;
+    our_side = "left";
+    our_color = "blue";
+  }
+};
+
+class ParametersClient
+{
+public:
+  explicit ParametersClient(rclcpp::Node * node)
+  : client(node, "consai2r2_description")
+  {
+  }
+
+  void get_parameters(consai2r2::description::Parameters * consai2r2_parameters)
+  {
+    if (!client.wait_for_service(std::chrono::seconds(5))) {
+      throw std::runtime_error("Wait for service timed out");
+    }
+    auto parameters = client.get_parameters(
+      {"max_id", "our_side", "our_color"});
+
+    consai2r2_parameters->max_id = parameters[0].as_int();
+    consai2r2_parameters->our_side = parameters[1].as_string();
+    consai2r2_parameters->our_color = parameters[2].as_string();
+  }
+
+private:
+  rclcpp::SyncParametersClient client;
+};
+
+}  // namespace description
+
+}  // namespace consai2r2
+
+#endif  // CONSAI2R2_DESCRIPTION__PARAMETERS_HPP_