Ugo, as our guru Lorenz just pointed out, please note that the earlier attached code was actually taking 100% of CPU. I am attaching an improved version with added sleep in the spin function. D. On Mon, Apr 19, 2010 at 8:18 PM, Dejan Pangercic wrote: > Hi Ugo, > > I am by no means authority but this is the way I update parameters in my nodes: > Define node's member function, e.g.: > ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// >  double param_; >  void >      updateParametersFromServer () >    { >      nh_.getParam ("my_param", param_); >    } > and then constantly call it in that node's spin function: > >      updateParametersFromServer (); > > See also an attached example file. > > Furthermore, I just recently stumbled upon > http://www.ros.org/wiki/dynamic_reconfigure which "facilitates dynamic > node reconfiguration". However I do not really understand in how far > is it different to conventional updating of parameters as discussed > before. But maybe Blaise can tell here more. > > D. > On Mon, Apr 19, 2010 at 6:56 PM, Ugo Cupcic wrote: >> Hi, >> >> I'm currently setting the parameters for the controllers (PID and so on) >> via a message (I have a subscriber which updates the values when it >> receives the corresponding message). >> >> It works well, but I wanted to know what was the recommended way of >> doing that in ROS. Is it better to do it using parameters? (But then how >> can I  change the corresponding values when the parameters are updated?) >> >> Cheers, >> >> Ugo >> >> -- >> Ugo Cupcic         |  Shadow Robot Company | ugo@shadowrobot.com >> Software Engineer      251 Liverpool Road >> need a Hand?           London  N1 1LX       | +44 20 7700 2487 >> http://www.shadowrobot.com/hand/              @shadowrobot >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > > -- > MSc. Dejan Pangercic > PhD Student/Researcher > Computer Science IX > Technische Universität München > Telephone: +49 (89) 289-17780 > E-Mail: dejan.pangercic@in.tum.de > WWW: http://ias.cs.tum.edu/people/pangercic > -- MSc. Dejan Pangercic PhD Student/Researcher Computer Science IX Technische Universität München Telephone: +49 (89) 289-17780 E-Mail: dejan.pangercic@in.tum.de WWW: http://ias.cs.tum.edu/people/pangercic