How to turn off Pioneer 3dx rear sonars using ROSARIA?

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I believe a dynamic parameter server would be a nice feature, e.g. disable/enable some sonars during operation. The question is whether the default ARIA library would support dynamic parameter changes.

It's easy to turn off/on all sonars. You can also effectively disable a specific sonar transducer (and change polling frequency and order) bit this would be more complicated, would you need that too? This would be in addition to omitting data for nonexistant sonars from the 'sonar' topic.

I just checked and ROSARIA ought to be disabling all the sonars on the robot if there are no subscribers to the 'sonar' topic. This is mainly just to keep it quiet if the sonars aren't actually in use.

Further discussion on this could be done at https://code.google.com/p/amor-ros-pkg/issues/detail?id=7 or https://groups.google.com/forum/?!forum/ros-sig-pioneer

I've put my comments on the amor-ros-pkg google code site. The ros-sig-pioneer forum seems inaccessible (wrong link?)