[ros-users] Best way to set the parameters for the controllers (param or message?)

Dejan Pangercic dejan.pangercic at gmail.com
Mon Apr 19 18:18:44 UTC 2010

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_;
      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.

On Mon, Apr 19, 2010 at 6:56 PM, Ugo Cupcic <ugo at 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 at shadowrobot.com
> Software Engineer      251 Liverpool Road
> need a Hand?           London  N1 1LX       | +44 20 7700 2487
> http://www.shadowrobot.com/hand/              @shadowrobot
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MSc. Dejan Pangercic
PhD Student/Researcher
Computer Science IX
Technische Universität München
Telephone: +49 (89) 289-17780
E-Mail: dejan.pangercic at in.tum.de
WWW: http://ias.cs.tum.edu/people/pangercic
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