Structure of generated interface #7
Description
description yaml file:
topic: <>
input_rate: <>
updater:
topic: <>// namespace is interface library name
namespace foo_config {
struct Params {
string topic;
double input_rate;
struct Updater {
string topic;
} updater;
// for detecting if the parameter struct has been updated
rclcpp::Time __stamp;
};
class ParamListener {
public:
ParamListener(rclcpp::ParameterInterface);
ParamListener(rclcpp::Node::SharedPtr node)
: ParameterListener(node->get_parameters_interface()) {}
ParamListener(rclcpp_lifecycle::LifecycleNode::SharedPtr node)
: ParameterListener(node->get_parameters_interface()) {}
Params get() const;
bool is_invalid(Params const& other) const;
private:
std::mutex mutex_;
Params params_;
};
} // namespace foo_configUse Example
// initalization
auto const node = std::make_shared<rclcpp::Node>("foo");
auto const param_listener = foo_config::ParameterListener(node);
auto params = param_listener.get();
...
// in update loop
if (param_listener.is_invalid(params)) {
params = param_listener.get();
}