ROS2: Set Remote Parameter - Results in Exception

asked 2020-02-13 17:42:03 -0500

Kevlar
11 ●1 ●2 ●2

Version: ROS2 Eloquent

Platform: Linux 5.0.0-37-generic #40~18.04.1-Ubuntu SMP x86_64 x86_64 x86_64 GNU/Linux

I am trying to set a parameter for Node #1 from Node #2. If I understand correctly, I need to first create a SynParametersClient on Node #2:

mHelmParameters = std::make_shared<rclcpp::SyncParametersClient>(this, "Helm");

When I attempt to set the parameter:

mHelmParameters->set_parameters({ rclcpp::Parameter(parameterName, parameterValue) });

I get the following:

terminate called after throwing an instance of 'std::runtime_error'

what():  Node has already been added to an executor.

When the set_parameters() call is made, it is in the same thread/call chain from the receipt of a subscribed message. The general intent is when Node 2 receives a particular message I want to set a parameter on Node 1.

I found this thread: https://answers.ros.org/question/3038... However, it results in a "you don't need the Client to set your own parameters." All well and good, but that doesn't help, since I'm trying to set a remote parameter.

From what I can discern from other threads and documentation, it doesn't seem feasible to do this from within the context of a 'spin' call (which, if I also understand correctly, is making the callback for the 'message received' method). Therefore, I would need to break out of the 'spin' call periodically, see that I have a parameter to set, set it, then get back to 'spinning'. If I'm incorrect in this analysis, how do I get around the thrown exception?

Thanks!

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I have a similar issue on Foxy. Specifically, I'm trying to use colcon test to spin up a "node under test" that has parameters and a temporary node defined in a gtest executable. Both the node under test and gtest executable are started with a test launch file. The temporary node needs to access/modify the parameters of the node under test. I get the same exception when my temporary node tries to call has, get, and set.

dustingooding ( 2021-01-26 11:12:51 -0500 )edit

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void set_bool_param(std::string param, bool value) { if (!param_client_) { param_client_ = std::make_shared<rclcpp::AsyncParametersClient>(this, "remote_node"); } if (param_client_->service_is_ready()) { RCLCPP_INFO_STREAM(get_logger(), "set " << param << " to " << value); param_client_->set_parameters({rclcpp::Parameter(param, value)}, [this](std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>> future) { future.wait(); auto results = future.get(); if (results.size() != 1) { RCLCPP_ERROR_STREAM(get_logger(), "expected 1 result, got " << results.size()); } else { if (results[0].successful) { RCLCPP_INFO(get_logger(), "success"); } else { RCLCPP_ERROR(get_logger(), "failure"); } } }); } else { RCLCPP_ERROR(get_logger(), "remote parameter server is not ready"); } }

ROS2: Set Remote Parameter - Results in Exception

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ROS2: Set Remote Parameter - Results in Exception