[ros-users] subscribeParam question in rospy
kwc at willowgarage.com
Thu May 27 23:12:33 UTC 2010
On Thu, May 27, 2010 at 4:03 PM, Mike Purvis
<mpurvis at clearpathrobotics.com> wrote:
> Oh, bummer. Is this functionality on the roadmap?
Yes, unfortunately it didn't make it in for C-Turtle.
> Would it be a reasonable substitute to have a global topic to notify for
> config changes, which would allow the nodes to alert each other to re-check
> the param server? Or am I overthinking the problem?
You may wish to investigate dynamic_reconfigure, which is an
architecture for manipulating parameter-server-based configuration.
> On 27 May 2010 18:54, Ken Conley <kwc at willowgarage.com> wrote:
>> Hi Mike,
>> This feature isn't available in rospy currently.
>> - Ken
>> On Thu, May 27, 2010 at 3:19 PM, Mike Purvis
>> <mpurvis at clearpathrobotics.com> wrote:
>> > Hey all,
>> > I'm getting started on some work involving Parameter Server, and have a
>> > few
>> > quick questions regarding the rospy interface.
>> > According to the documentation of the XMLRPC API, there's a subscription
>> > functionality that I'd like to take advantage of, to avoid polling for
>> > configuration updates:
>> > http://www.ros.org/wiki/ROS/Parameter%20Server%20API
>> > The rospy overview docs don't seem to include this method.
>> > http://www.ros.org/wiki/rospy/Overview/Parameter%20Server
>> > However, looking at the source in paramserver.py, there's clearly the
>> > following method defined:
>> > def subscribe_param(self, key, registration_args)
>> > But it's not clear what the "registration args" tuple is. It seems to
>> > end up
>> > at the following call, inside masterdata.py:
>> > def register_param_subscriber(self, param, caller_id, caller_api)
>> > Is there an example somewhere of how to register the appropriate
>> > callback to
>> > use subscribeParam from python?
>> > Thanks,
>> > Mike Purvis
>> > _______________________________________________
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