[quote="rohbotics, post:3, topic:1001"] ParameterService allows other nodes to set/get/list parameters in this node. [/quote] [quote="wjwwood, post:2, topic:1001"] (also I think the node automatically has a parameter service, so you should only need a client) [/quote] I initially tried sending params to the talker without adding any code, and it failed. So that puts this statement into question. Thanks for the insight on the proper usage. [quote="rohbotics, post:3, topic:1001"] Neither of these are the API for interacting with the parameters for this node, which should be done through Node [/quote] I guess I never knew this. What is the API for setting/getting params in Node? I hadn't seen anything in the past. Maybe things have changed and I'm just oblivious. :blush: The way I've been working with parameters is to create a Service and Client for each node. Then I register an event callback for each node. And inside the param event callback for each node, I condition on the name of the parameter being modified/created/deleted, and assign the value to a local variable used for computation, etc. Sounds like that approach is off-the-mark. I'll look into the `Node::register_param_change_callback() ` method and modify how I'm working with parameters. Usually my use case is to create/setup my node, wait for parameters to be set to a good value (typically by an external entity), then proceed to do work. --- [Visit Topic](https://discourse.ros.org/t/composition-and-parameters-best-practice-suggestions/1001/4) 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: