sequenceplanner/r2r

The Parameter support does not seem to match what ROS2 calls parameters

mschuckmann opened this issue · 6 comments

mschuckmann commented

Looking at the parameters example code it appears that that this crates notion of parameters does not patch ROS2 notion of parameters.

From my understanding of ROS2 parameters they are are attributes of a Node that can be get and set by other nodes, I'm new to this library (and to ROS2) but I don't really see how this library implements that functionality? It seems that it is just reading the values specified via --ros-args and adding them to a hash map for the code to use, is that correct?

m-dahl commented

Hi,

I think you are right. From my understanding, parameters can be set by commandline, yaml files and via services available to other nodes. The services associated with updating parameters have not been implemented. I have updated the readme to clarify that this functionality is missing.

mschuckmann commented

Thanks for confirming.

mschuckmann commented

So any idea what it would take to implement parameters properly? I'd be willing to do the work but I'd probably need some hand holding.

m-dahl commented

Hi,

I added simple updating in #17. Closing this issue in favor of that PR.

If you want to you could take a stab at implementing the services in that PR using the one I added already as a template. Depending on your usecase we can also merge to master early when you have what you need.

mschuckmann commented
mschuckmann commented

@m-dahl I'm just now getting back to your parameter_handler support, it looks pretty straight forward, however I'm having trouble figuring out how to use it with tokio as the future returned by make_parameter_handler() does not implement send().
Do you think you could give me some clues?