[ROS] all rclcpp::AsyncParametersClient are notified for ros2 set param [closed]

asked 2019-07-11 16:12:53 -0500

ahtsan
112 ●13 ●16 ●24

updated 2019-07-11 16:15:06 -0500

If there are multiple nodes and the rclcpp::AsyncParametersClient of each node implements on_parameter_event, all clients' callback are called when we do ros2 param set some_node some_param some_value. Is it an expected behavior?

Is there a way that only one client gets notified?

Closed for the following reason the question is answered, right answer was accepted by ahtsan
close date 2019-07-16 14:54:47.946246

answered 2019-07-12 05:21:29 -0500

alsora
1322 ●45 ●83 ●76 https://github.com/alsora

Yes, this is currently expected. When you set/remove/update a parameter, a message is published to the parameter_events topic, that is shared among all nodes. For this reason, the on_parameter_event callback will be triggered every time.

If you are interested only in specific parameters, you should check in the callback the parameter name and node before eventually doing something.

The ROS2 Parameters design states that it should be possible to subscribe only to changes to specific parameters, but this feature has not been implemented yet.

https://design.ros2.org/articles/ros_...

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Got it, thanks! As a follow-up, what is the equivalent API in C++ for ros2 param set <node-name> <param> <value>?

ahtsan ( 2019-07-12 15:26:03 -0500 )edit

Please open a new question or edit your original one to include this related question. Thanks! I can post a new answer or @alsora can take this into his answer if you add this question to you original question, but the equivalent API is http://docs.ros2.org/dashing/api/rclc... (there is also an async version and this API works on a local or remote node by the given name).

William ( 2019-07-12 15:32:53 -0500 )edit

Sure! I have opened a new question.

ahtsan ( 2019-07-12 15:37:46 -0500 )edit

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[ROS] all rclcpp::AsyncParametersClient are notified for ros2 set param [closed]

Closed for the following reason the question is answered, right answer was accepted by ahtsan
close date 2019-07-16 14:54:47.946246

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Closed for the following reason the question is answered, right answer was accepted by ahtsan close date 2019-07-16 14:54:47.946246

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[ROS] all rclcpp::AsyncParametersClient are notified for ros2 set param [closed]

Closed for the following reason the question is answered, right answer was accepted by ahtsan
close date 2019-07-16 14:54:47.946246