#include <chrono>
#include <iostream>
#include <memory>
#include <vector>

#include <rclcpp/rclcpp.hpp>

int main(int argc, char *argv[]) {
  rclcpp::init(argc, argv);

  rclcpp::executors::SingleThreadedExecutor executor;
  auto node = std::make_shared<rclcpp::Node>("param_test_server_node");
  auto test_param = "test_param";

  rcl_interfaces::msg::ParameterDescriptor descriptor;
  descriptor.read_only = false;
  node->declare_parameter(test_param, rclcpp::ParameterValue(10), descriptor);

  executor.add_node(node);

  node->set_on_parameters_set_callback([&](const std::vector<rclcpp::Parameter> & parameters) {
        rcl_interfaces::msg::SetParametersResult result;
        std::cout << "set_parameter callback is called" << std::endl;
        result.successful = true;
        for (const auto & parameter : parameters) {
          if (parameter.get_name() == test_param)
          {
            std::cout << test_param << " " << parameter.value_to_string() << std::endl;
          }
        }
        return result;
      });

  executor.spin();

  rclcpp::shutdown();

  return 0;
}

#include <chrono>
#include <iostream>
#include <memory>
#include <vector>

#include <rclcpp/rclcpp.hpp>

int main(int argc, char *argv[]) {
  rclcpp::init(argc, argv);

  auto remote_node = "/param_test_server_node";
  auto test_param = "test_param";

  auto node = std::make_shared<rclcpp::Node>("param_test_client");
  auto parameters_client =
      std::make_shared<rclcpp::SyncParametersClient>(node, remote_node);

  std::this_thread::sleep_for(std::chrono::seconds(1));

  while (!parameters_client->wait_for_service(std::chrono::seconds(1))) {
    if (!rclcpp::ok()) {
      RCLCPP_ERROR(node->get_logger(), "interrupted, exit!");
      rclcpp::shutdown();
      return 0;
    }
    RCLCPP_INFO(node->get_logger(), "wait for service");
  }

  std::vector<std::string> params;
  params.emplace_back(test_param);
  auto results = parameters_client->get_parameter_types(params);
  for (auto &result : results) {
    RCLCPP_INFO(node->get_logger(), "param_type: %d", result);
  }

  rclcpp::shutdown();

  return 0;
}