To add on to @wjwwood `ParameterService` allows other nodes to set/get/list parameters in this node. `ParameterClient` provides API to set/get/list parameters on other nodes. Neither of these are the API for interacting with the parameters for this node, which should be done through `Node`. A caveat on `Node::register_param_change_callback()`, you can only register one callback per node (currently), if you register multiple times, only the last one will be called. --- [Visit Topic](https://discourse.ros.org/t/composition-and-parameters-best-practice-suggestions/1001/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: