From 153e04b68df966f0c100812d8aad4b1771bc5aef Mon Sep 17 00:00:00 2001
From: Yuma Hiramatsu <yuma.hiramatsu@gmail.com>
Date: Tue, 10 Aug 2021 23:59:53 +0900
Subject: [PATCH] Add example of using parameters

---
 rclrust/examples/parameters.rs | 22 ++++++++++++++++++++++
 rclrust/src/parameter/mod.rs   |  2 +-
 2 files changed, 23 insertions(+), 1 deletion(-)
 create mode 100644 rclrust/examples/parameters.rs

diff --git a/rclrust/examples/parameters.rs b/rclrust/examples/parameters.rs
new file mode 100644
index 00000000..1ff9f553
--- /dev/null
+++ b/rclrust/examples/parameters.rs
@@ -0,0 +1,22 @@
+use anyhow::Result;
+
+use rclrust::rclrust_info;
+use rclrust::{Parameter, ParameterValue};
+
+fn main() -> Result<()> {
+    let ctx = rclrust::init()?;
+    let node = ctx.create_node("example_parameters")?;
+    let logger = node.logger();
+
+    node.declare_parameter("param0", &ParameterValue::integer(20))?;
+
+    rclrust_info!(logger, "param0 = {}", node.get_parameter("param0").unwrap());
+
+    node.set_parameter(Parameter::double("param0", 2.3))?;
+
+    rclrust_info!(logger, "param0 = {}", node.get_parameter("param0").unwrap());
+
+    std::thread::sleep(std::time::Duration::from_secs(20));
+
+    Ok(())
+}
diff --git a/rclrust/src/parameter/mod.rs b/rclrust/src/parameter/mod.rs
index c77b895d..aaa3efee 100644
--- a/rclrust/src/parameter/mod.rs
+++ b/rclrust/src/parameter/mod.rs
@@ -24,7 +24,7 @@ impl fmt::Display for Parameter {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         write!(
             f,
-            r#"Parameter(name = "{}", value = {})"#,
+            r#"Parameter(name="{}", value={})"#,
             self.name, self.value
         )
     }