Use wait_for_service in parameter demos (#161)

* Use wait_for_service in parameter demos * remove extra semicolon * Switch to printf
ros2 · Aug 17, 2017 · 79c2f5a · 79c2f5a
1 parent b7a64ab
commit 79c2f5a
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diff --git a/demo_nodes_cpp/src/parameters/list_parameters.cpp b/demo_nodes_cpp/src/parameters/list_parameters.cpp
@@ -17,6 +17,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+using namespace std::chrono_literals;
+
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
@@ -27,7 +29,15 @@ int main(int argc, char ** argv)
   auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
 
   auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
+  while (!parameters_client->wait_for_service(1s)) {
+    if (!rclcpp::ok()) {
+      printf("Interrupted while waiting for the service. Exiting.\n");
+      return 0;
+    }
+    printf("service not available, waiting again...\n");
+  }
 
+  printf("Setting parameters...\n");
   // Set several differnet types of parameters.
   auto set_parameters_results = parameters_client->set_parameters({
     rclcpp::parameter::ParameterVariant("foo", 2),
@@ -38,6 +48,7 @@ int main(int argc, char ** argv)
     rclcpp::parameter::ParameterVariant("foobar", true),
   });
 
+  printf("Listing parameters...\n");
   // List the details of a few parameters up to a namespace depth of 10.
   auto parameters_and_prefixes = parameters_client->list_parameters({"foo", "bar"}, 10);
   for (auto & name : parameters_and_prefixes.names) {

diff --git a/demo_nodes_cpp/src/parameters/list_parameters_async.cpp b/demo_nodes_cpp/src/parameters/list_parameters_async.cpp
@@ -17,6 +17,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+using namespace std::chrono_literals;
+
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
@@ -27,7 +29,15 @@ int main(int argc, char ** argv)
   auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
 
   auto parameters_client = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(node);
+  while (!parameters_client->wait_for_service(1s)) {
+    if (!rclcpp::ok()) {
+      printf("Interrupted while waiting for the service. Exiting.\n");
+      return 0;
+    }
+    printf("service not available, waiting again...\n");
+  }
 
+  printf("Setting parameters...\n");
   // Set several differnet types of parameters.
   auto results = parameters_client->set_parameters({
     rclcpp::parameter::ParameterVariant("foo", 2),
@@ -40,6 +50,7 @@ int main(int argc, char ** argv)
   // Wait for the result.
   rclcpp::spin_until_future_complete(node, results);
 
+  printf("Listing parameters...\n");
   // List the details of a few parameters up to a namespace depth of 10.
   auto parameter_list_future = parameters_client->list_parameters({"foo", "bar"}, 10);
 

diff --git a/demo_nodes_cpp/src/parameters/parameter_events.cpp b/demo_nodes_cpp/src/parameters/parameter_events.cpp
@@ -47,6 +47,13 @@ int main(int argc, char ** argv)
   auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
 
   auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
+  while (!parameters_client->wait_for_service(1s)) {
+    if (!rclcpp::ok()) {
+      printf("Interrupted while waiting for the service. Exiting.\n");
+      return 0;
+    }
+    printf("service not available, waiting again...\n");
+  }
 
   // Setup callback for changes to parameters.
   auto sub = parameters_client->on_parameter_event(on_parameter_event);

diff --git a/demo_nodes_cpp/src/parameters/parameter_events_async.cpp b/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
@@ -47,6 +47,13 @@ int main(int argc, char ** argv)
   auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
 
   auto parameters_client = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(node);
+  while (!parameters_client->wait_for_service(1s)) {
+    if (!rclcpp::ok()) {
+      printf("Interrupted while waiting for the service. Exiting.\n");
+      return 0;
+    }
+    printf("service not available, waiting again...\n");
+  }
 
   // Setup callback for changes to parameters.
   auto sub = parameters_client->on_parameter_event(on_parameter_event);

diff --git a/demo_nodes_cpp/src/parameters/parameter_node.cpp b/demo_nodes_cpp/src/parameters/parameter_node.cpp
@@ -47,6 +47,13 @@ int main(int argc, char ** argv)
   auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
 
   auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
+  while (!parameters_client->wait_for_service(1s)) {
+    if (!rclcpp::ok()) {
+      printf("Interrupted while waiting for the service. Exiting.\n");
+      return 0;
+    }
+    printf("service not available, waiting again...\n");
+  }
 
   // Setup callback for changes to parameters.
   auto sub = parameters_client->on_parameter_event(on_parameter_event);

diff --git a/demo_nodes_cpp/src/parameters/ros2param.cpp b/demo_nodes_cpp/src/parameters/ros2param.cpp
@@ -19,6 +19,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+using namespace std::chrono_literals;
+
 #define USAGE \
   "USAGE:\n  ros2param get <node/variable>\n  ros2param set <node/variable> <value>\n" \
   "  ros2param list <node>"
@@ -104,6 +106,13 @@ int main(int argc, char ** argv)
   auto parameters_client =
     std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(node, remote_node);
   auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
+  while (!parameters_client->wait_for_service(1s)) {
+    if (!rclcpp::ok()) {
+      printf("Interrupted while waiting for the service. Exiting.\n");
+      return 0;
+    }
+    printf("service not available, waiting again...\n");
+  }
 
   if (op == PARAM_GET) {
     auto get_parameters_result = parameters_client->get_parameters({var.get_name()});

diff --git a/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp b/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
@@ -17,6 +17,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+using namespace std::chrono_literals;
+
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
@@ -27,6 +29,13 @@ int main(int argc, char ** argv)
   auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
 
   auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
+  while (!parameters_client->wait_for_service(1s)) {
+    if (!rclcpp::ok()) {
+      printf("Interrupted while waiting for the service. Exiting.\n");
+      return 0;
+    }
+    printf("service not available, waiting again...\n");
+  }
 
   // Set several different types of parameters.
   auto set_parameters_results = parameters_client->set_parameters({

diff --git a/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp b/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
@@ -17,6 +17,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+using namespace std::chrono_literals;
+
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
@@ -27,6 +29,13 @@ int main(int argc, char ** argv)
   auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
 
   auto parameters_client = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(node);
+  while (!parameters_client->wait_for_service(1s)) {
+    if (!rclcpp::ok()) {
+      printf("Interrupted while waiting for the service. Exiting.\n");
+      return 0;
+    }
+    printf("service not available, waiting again...\n");
+  }
 
   // Set several different types of parameters.
   auto results = parameters_client->set_parameters({

diff --git a/demo_nodes_cpp/test/list_parameters.txt b/demo_nodes_cpp/test/list_parameters.txt
@@ -1,3 +1,5 @@
+Setting parameters...
+Listing parameters...
 Parameter name: bar
 Parameter name: foo
 Parameter name: foo.first

diff --git a/demo_nodes_cpp/test/list_parameters_async.txt b/demo_nodes_cpp/test/list_parameters_async.txt
@@ -1,3 +1,5 @@
+Setting parameters...
+Listing parameters...
 Parameter name: bar
 Parameter name: foo
 Parameter name: foo.first