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template<typename DurationT, typename CallbackT>
typename rclcpp::WallTimer<CallbackT>::SharedPtr
Node::create_wall_timer(
  std::chrono::duration<int64_t, DurationT> period,
  CallbackT callback,
  rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
  auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
    std::chrono::duration_cast<std::chrono::nanoseconds>(period),
    std::move(callback));

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Node::Node(
  const std::string & node_name,
  const std::string & namespace_,
  rclcpp::Context::SharedPtr context,
  bool use_intra_process_comms)
: node_base_(new rclcpp::node_interfaces::NodeBase(node_name, namespace_, context)),
  node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
  node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
  node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
  node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get())),

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uint32_t serialize_std_msgs__string(void *_msg, uint8_t *_buf, uint32_t _buf_size)
{
  struct std_msgs__string *_s = (struct std_msgs__string *)_msg;
  uint8_t *_p = _buf;
  if ((uintptr_t)_p & 3)
    _p += 4 - ((uintptr_t)_p & 3);
  uint32_t _data_len = (uint32_t)strlen(_s->data) + 1;
  *((uint32_t *)_p) = _data_len;
  _p += 4;
  memcpy(_p, _s->data, _data_len);

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bool frudp_publish_user_msg(frudp_pub_t *pub,
    const uint8_t *payload, const uint32_t payload_len)
{
  if (pub->reliable)
  {
    // 高信頼通信は未対応
    FREERTPS_ERROR("user reliable publishing not quite done yet.\n");
    return false;
  }

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#include <stdio.h>
#include "freertps/freertps.h"

// コールバック関数
void chatter_cb(const void *msg)
{
  // str_lenの型は32ビットなのに、forループの中では8ビット受け渡しなのが解せない
  uint32_t str_len = *((uint32_t *)msg);
  char buf[128] = {0};
  for (int i = 0; i < str_len && i < sizeof(buf)-1; i++)

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  auto parameters = parameters_client->get_parameters({"parameter_number", "parameter_string", "parameter_boolean"});
  if (rclcpp::spin_until_future_complete(node, parameters) != rclcpp::executor::FutureReturnCode::SUCCESS)
  {
    std::cerr << "Failed to set parameter: " << result.reason << std::endl;
    return -1;
  }
  for (auto & parameter : parameters.get()) {
    std::cout << "Parameter name: " << parameter.get_name() << std::endl;
    std::cout << "Parameter value (" << parameter.get_type_name() << "): " <<
      parameter.value_to_string() << std::endl;

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int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);
  auto node = rclcpp::Node::make_shared("get_parameters");
  auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
  auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
  // パラメータの設定
  auto set_parameters_results = parameters_client->set_parameters({
    rclcpp::parameter::ParameterVariant("parameter_number", 1),
    rclcpp::parameter::ParameterVariant("parameter_string", "hello"),

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explicit ParameterVariant(const std::string & name, const bool bool_value);

explicit ParameterVariant(const std::string & name, const int int_value);

explicit ParameterVariant(const std::string & name, const int64_t int_value);

explicit ParameterVariant(const std::string & name, const float double_value);

explicit ParameterVariant(const std::string & name, const double double_value);

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void
add_subscription(const rclcpp::subscription::SubscriptionBase::SharedPtr subscription_ptr);

void
add_timer(const rclcpp::timer::TimerBase::SharedPtr timer_ptr);

void
add_service(const rclcpp::service::ServiceBase::SharedPtr service_ptr);

void

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enum class CallbackGroupType
{
  MutuallyExclusive,
  Reentrant
};