From 7e5e75a748ff739ef5915ced3572aa53e6b77f47 Mon Sep 17 00:00:00 2001
From: William Woodall <william@osrfoundation.org>
Date: Fri, 1 Feb 2019 08:49:51 -0800
Subject: [PATCH] replace create_parameter with declare_parameter

Signed-off-by: William Woodall <william@osrfoundation.org>
---
 rclcpp/include/rclcpp/node.hpp                      | 13 ++++++++++++-
 .../rclcpp/node_interfaces/node_parameters.hpp      |  4 ++--
 .../node_interfaces/node_parameters_interface.hpp   |  2 +-
 rclcpp/src/rclcpp/node.cpp                          |  4 ++--
 .../src/rclcpp/node_interfaces/node_parameters.cpp  |  2 +-
 rclcpp/test/test_node_initial_parameters.cpp        |  6 +++---
 6 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index d237b1ec1b..813b55c97e 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -281,11 +281,22 @@ class Node : public std::enable_shared_from_this<Node>
    */
   RCLCPP_PUBLIC
   void
-  create_parameter(
+  declare_parameter(
     const std::string & name,
     const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     bool read_only = false);
 
+  /// Declare and initialize a parameter with a type.
+  /**
+   * See the non-templated declare_parameter() on this class for details.
+   */
+  template<typename ParameterT>
+  void
+  declare_parameter(
+    const std::string & name,
+    const ParameterT & default_value,
+    bool read_only = false);
+
   RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
   set_parameters(const std::vector<rclcpp::Parameter> & parameters);
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp b/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
index 59dd27e373..57390afe13 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
@@ -43,7 +43,7 @@ namespace node_interfaces
 // Internal struct for holding useful info about parameters
 struct ParameterInfo
 {
-  /// True if a user called create_parameter()
+  /// True if a user called declare_parameter()
   bool is_declared = false;
 
   /// Current value of the parameter.
@@ -76,7 +76,7 @@ class NodeParameters : public NodeParametersInterface
 
   RCLCPP_PUBLIC
   void
-  create_parameter(
+  declare_parameter(
     const std::string & name,
     const rclcpp::ParameterValue & default_value,
     bool read_only) override;
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp b/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
index 55ba7855a7..d0d0b7d546 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
@@ -52,7 +52,7 @@ class NodeParametersInterface
   RCLCPP_PUBLIC
   virtual
   void
-  create_parameter(
+  declare_parameter(
     const std::string & name,
     const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     bool read_only = false) = 0;
diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
index f12bd7a87b..35972fe3c5 100644
--- a/rclcpp/src/rclcpp/node.cpp
+++ b/rclcpp/src/rclcpp/node.cpp
@@ -135,12 +135,12 @@ Node::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
 }
 
 void
-Node::create_parameter(
+Node::declare_parameter(
   const std::string & name,
   const rclcpp::ParameterValue & default_value,
   bool read_only)
 {
-  return this->node_parameters_->create_parameter(name, default_value, read_only);
+  return this->node_parameters_->declare_parameter(name, default_value, read_only);
 }
 
 std::vector<rcl_interfaces::msg::SetParametersResult>
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
index 6ae5c5bca2..6c4198b651 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
@@ -162,7 +162,7 @@ NodeParameters::~NodeParameters()
 {}
 
 void
-NodeParameters::create_parameter(
+NodeParameters::declare_parameter(
   const std::string & name,
   const rclcpp::ParameterValue & default_value,
   bool read_only)
diff --git a/rclcpp/test/test_node_initial_parameters.cpp b/rclcpp/test/test_node_initial_parameters.cpp
index d1f6b4b7be..c6d11001ee 100644
--- a/rclcpp/test/test_node_initial_parameters.cpp
+++ b/rclcpp/test/test_node_initial_parameters.cpp
@@ -78,9 +78,9 @@ TEST_F(TestNodeWithInitialValues, multiple_declared_initial_values) {
   auto node = rclcpp::Node::make_shared(
     "node_name", "", context, arguments, initial_values, use_global_arguments, use_intra_process);
 
-  node->create_parameter("foo");
-  node->create_parameter("bar");
-  node->create_parameter("baz");
+  node->declare_parameter("foo");
+  node->declare_parameter("bar");
+  node->declare_parameter("baz");
 
   auto list_params_result = node->list_parameters({}, 0);
   EXPECT_TRUE(node->get_parameter("foo").get_value<bool>());