Add methods to create a parameter client in Node (osrf#75)

* Cleanup service/client creation code

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

* Add methods to create a parameter client in Node

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Author: ivanpauno

rcljava/src/main/java/org/ros2/rcljava/node/Node.java

@@ -39,6 +39,8 @@
 import org.ros2.rcljava.parameters.ParameterCallback;
 import org.ros2.rcljava.parameters.ParameterType;
 import org.ros2.rcljava.parameters.ParameterVariant;
+import org.ros2.rcljava.parameters.client.AsyncParametersClient;
+import org.ros2.rcljava.parameters.client.SyncParametersClient;
 import org.ros2.rcljava.publisher.Publisher;
 import org.ros2.rcljava.qos.QoSProfile;
 import org.ros2.rcljava.service.RMWRequestId;
@@ -264,6 +266,16 @@ <T extends ActionDefinition> ActionServer<T> createActionServer(final Class<T> a
    */
   String getNamespace();
 
+  /**
+   * Create an asynchronous parameter client.
+   */
+  AsyncParametersClient createAsyncParametersClient(String nodeName);
+
+  /**
+   * Create an synchronous parameter client.
+   */
+  SyncParametersClient createSyncParametersClient(String nodeName);
+
   /**
    * Declare and initialize a parameter, return the effective value.
    *

rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java

@@ -44,6 +44,10 @@
 import org.ros2.rcljava.parameters.ParameterNotDeclaredException;
 import org.ros2.rcljava.parameters.ParameterType;
 import org.ros2.rcljava.parameters.ParameterVariant;
+import org.ros2.rcljava.parameters.client.AsyncParametersClient;
+import org.ros2.rcljava.parameters.client.AsyncParametersClientImpl;
+import org.ros2.rcljava.parameters.client.SyncParametersClient;
+import org.ros2.rcljava.parameters.client.SyncParametersClientImpl;
 import org.ros2.rcljava.parameters.service.ParameterService;
 import org.ros2.rcljava.parameters.service.ParameterServiceImpl;
 import org.ros2.rcljava.publisher.Publisher;
@@ -533,6 +537,14 @@ public final String getNamespace() {
     return nativeGetNamespace(this.handle);
   }
 
+  public AsyncParametersClient createAsyncParametersClient(String nodeName) {
+    return new AsyncParametersClientImpl(this, nodeName);
+  }
+
+  public SyncParametersClient createSyncParametersClient(String nodeName) {
+    return new SyncParametersClientImpl(this, nodeName);
+  }
+
   public ParameterVariant declareParameter(ParameterVariant parameter) {
     return declareParameter(parameter, new rcl_interfaces.msg.ParameterDescriptor().setName(parameter.getName()));
   }