From efcae4510c5cd9cba5f90b54336d600bda508300 Mon Sep 17 00:00:00 2001
From: Bastien Scher <contact@bastien-scher.fr>
Date: Mon, 29 Jan 2018 16:30:13 +0100
Subject: [PATCH] Add support for boolean parameters

---
 rosserial_client/src/ros_lib/ros/node_handle.h | 18 ++++++++++++++++++
 .../src/rosserial_python/SerialClient.py       |  2 +-
 2 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/rosserial_client/src/ros_lib/ros/node_handle.h b/rosserial_client/src/ros_lib/ros/node_handle.h
index 1db13bce4..8fa27b19b 100644
--- a/rosserial_client/src/ros_lib/ros/node_handle.h
+++ b/rosserial_client/src/ros_lib/ros/node_handle.h
@@ -661,6 +661,24 @@ class NodeHandle_ : public NodeHandleBase_
     }
     return false;
   }
+  bool getParam(const char* name, bool* param, int length = 1, int timeout = 1000)
+  {
+    if (requestParam(name, timeout))
+    {
+      if (length == req_param_resp.ints_length)
+      {
+        //copy it over
+        for (int i = 0; i < length; i++)
+          param[i] = req_param_resp.ints[i];
+        return true;
+      }
+      else
+      {
+        logwarn("Failed to get param: length mismatch");
+      }
+    }
+    return false;
+  }
 };
 
 }
diff --git a/rosserial_python/src/rosserial_python/SerialClient.py b/rosserial_python/src/rosserial_python/SerialClient.py
index aa98cd188..858745cbf 100644
--- a/rosserial_python/src/rosserial_python/SerialClient.py
+++ b/rosserial_python/src/rosserial_python/SerialClient.py
@@ -670,7 +670,7 @@ def handleParameterRequest(self, data):
             if t!= type(p):
                 rospy.logerr('All Paramers in the list %s must be of the same type'%req.name)
                 return
-        if (t == int):
+        if (t == int or t == bool):
             resp.ints= param
         if (t == float):
             resp.floats=param