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 <ugo@shadowrobot.com> 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
_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users