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Setting up Dynamic Reconfigure for several nodes?

asked 2017-07-11 04:45:36 -0500

OMC gravatar image

I wanted to have a node that worked as a Dynamic Reconfigure server for my other nodes. What would be the best approach?

If I start a server in each node I end up with several instances of the same configuration set. The only thing I can figure out is having just one configuration server and have the other nodes periodically read those parameters through rosparam (i.e: NodeHandle.param<t>(paramName,paramValue,paramDefault);).

Is there any way to have all nodes read the new configuration parameters upon a parameter change rather than periodically?

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answered 2017-07-12 01:30:22 -0500

Procópio gravatar image

This does not answer your first question, but you can use cached parameters to get only parameters that have changed.

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If I have understood how cached parameters work, when I use getParamCached(), I will get it from the master instead of the rosparam server which will be faster. So, what do you mean by getting only parameters that have changed? Won't I still need to run getParamCached() for each param? Thanks

OMC gravatar imageOMC ( 2017-07-12 04:43:24 -0500 )edit

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Asked: 2017-07-11 04:45:36 -0500

Seen: 130 times

Last updated: Jul 12 '17