From aa8df8904b864d063e31fd5b953ffe561c7a9fe0 Mon Sep 17 00:00:00 2001 From: Mikael Arguedas Date: Mon, 6 May 2024 22:28:05 +0200 Subject: [PATCH] [demo_nodes_cpp] some readme and executable name fixups (#678) Signed-off-by: Mikael Arguedas --- demo_nodes_cpp/CMakeLists.txt | 2 +- demo_nodes_cpp/README.md | 22 +++++++++++++--------- 2 files changed, 14 insertions(+), 10 deletions(-) diff --git a/demo_nodes_cpp/CMakeLists.txt b/demo_nodes_cpp/CMakeLists.txt index d06f18d07..52c504b2a 100644 --- a/demo_nodes_cpp/CMakeLists.txt +++ b/demo_nodes_cpp/CMakeLists.txt @@ -121,7 +121,7 @@ create_demo_library("demo_nodes_cpp::SetAndGetParameters" set_and_get_parameters create_demo_library("demo_nodes_cpp::ParameterEventsAsyncNode" parameter_events_async FILES src/parameters/parameter_events_async.cpp DEPENDENCIES ${rcl_interfaces_TARGETS} rclcpp::rclcpp rclcpp_components::component) -create_demo_library("demo_nodes_cpp::EvenParameterNode" event_parameters_node +create_demo_library("demo_nodes_cpp::EvenParameterNode" even_parameters_node FILES src/parameters/even_parameters_node.cpp DEPENDENCIES ${rcl_interfaces_TARGETS} rclcpp::rclcpp rclcpp_components::component) create_demo_library("demo_nodes_cpp::SetParametersCallback" set_parameters_callback diff --git a/demo_nodes_cpp/README.md b/demo_nodes_cpp/README.md index fcb3ada8f..a779f97a7 100644 --- a/demo_nodes_cpp/README.md +++ b/demo_nodes_cpp/README.md @@ -208,7 +208,7 @@ ros2 run demo_nodes_cpp allocator_tutorial ### Parameter Events -This runs `parameter_events`/`parameters_events_async` ROS 2 node(s) which initiates 10 parameter events which changes an example string parameter. +This runs `parameter_events`/`parameter_events_async` ROS 2 node(s) which initiates 10 parameter events which changes an example string parameter. > foo -> bar -> baz -> foobar -> foo -> bar -> baz -> foobar -> foo -> bar @@ -609,31 +609,36 @@ Run `ros2 param set /even_parameters_node myint 3` to set the parameter to an in #### [Before] -Run `ros2 param get /set_parameters_callback param1` should print the following to terminal: +Run `ros2 param get /set_param_callback_node param1` should print the following to terminal: ```bash Double value is: 0.0 ``` -Run `ros2 param get /set_parameters_callback param2` should print the following to terminal: +Run `ros2 param get /set_param_callback_node param2` should print the following to terminal: ```bash Double value is 0.0 ``` #### [Change] -Run `ros2 param set /set_parameters_callback param1 28.0` should print the following to terminal: +Run `ros2 param set set_param_callback_node param1 10.0` and see it fail with +```bash +Setting parameter failed: cannot set 'param1' > 5.0 +``` + +Run `ros2 param set set_param_callback_node param1 3.0` ```bash Set parameter successful ``` #### [After] -Run `ros2 param get /set_parameters_callback param1` should print the following to terminal: +Run `ros2 param get /set_param_callback_node param1` should print the following to terminal: ```bash Double value is: 28.0 ``` -Run `ros2 param get /set_parameters_callback param2` should print the following to terminal: +Run `ros2 param get /set_param_callback_node param2` should print the following to terminal: ```bash Double value is 4.0 ``` @@ -646,15 +651,14 @@ When executed correctly, strings should be printed to terminal similar to what i INFO] [1674568261.762813104] [parameter_blackboard]: Parameter blackboard node named '/parameter_blackboard' ready, and serving '5' parameters already! ``` -Running `ros2 param list` should reveal the 5 parameters served: +Running `ros2 param list` should reveal the 6 parameters served: ```bash /parameter_blackboard: qos_overrides./parameter_events.publisher.depth qos_overrides./parameter_events.publisher.durability qos_overrides./parameter_events.publisher.history qos_overrides./parameter_events.publisher.reliability - use_sim_time -/rqt_gui_py_node_33886: + start_type_description_service use_sim_time ```