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Fill ParameterEvent.msg with timestamp and node path name #252

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Dec 4, 2018
Merged

Fill ParameterEvent.msg with timestamp and node path name #252

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6 changes: 6 additions & 0 deletions rclpy/rclpy/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -179,6 +179,11 @@ def set_parameters_atomically(self, parameter_list):

if result.successful:
parameter_event = ParameterEvent()
# Add fully qualified path of node to parameter event
if self.get_namespace() == '/':
parameter_event.node = self.get_namespace() + self.get_name()
else:
parameter_event.node = self.get_namespace() + '/' + self.get_name()
for param in parameter_list:
if Parameter.Type.NOT_SET == param.type_:
if Parameter.Type.NOT_SET != self.get_parameter(param.name).type_:
Expand All @@ -198,6 +203,7 @@ def set_parameters_atomically(self, parameter_list):
parameter_event.changed_parameters.append(
param.to_parameter_msg())
self._parameters[param.name] = param
parameter_event.stamp = self._clock.now().to_msg()
self._parameter_event_publisher.publish(parameter_event)

return result
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