[ros-users] [Discourse.ros.org] [Next Generation ROS] Composition and Parameters: Best Practice Suggestions

Poonam1120 via Discourse.ros.org ros.discourse at gmail.com
Thu Jan 10 12:07:52 UTC 2019

Hi All, 
I am also trying to use manual composition and ros2 parameter feature with the demo example only.
I tried both ways.
1)  add parameter client to the node itself.

    rclcpp::SyncParametersClient::SharedPtr parameters_client = std::make_shared<rclcpp::SyncParametersClient>(this);

With this approch, I get error as no matchin function as "rclcpp::SyncParametersClient::SyncParametersClient". Because this is referrence to talker node which is of type composition.

2)add parameter client before adding to the executor:
    auto talker = std::make_shared<composition::Talker>();
      auto parameter_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(talker);
With this approach, not able to set parameters, as parameter_client is define here and set parameter action is getting done in talker_component.cpp.

I am testing this on crystal.

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