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jhu-lcsr-forks / rtt_ros_integration

Orocos-ROS integration libraries and tools
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rtt_rosparam: Added support for subservices #47

Closed meyerj closed 10 years ago

meyerj commented 10 years ago

This patch will add sub-service support to rtt_rosparam. A component could have nested services that also have properties. Currently it is not possible to load or store parameters of nested services.

There are several modifications, that I shortly summarize here:

  1. I added policy-specific operations getAllXXX() and setAllXXX() in analogy to the per-parameter operations. This is not directly related to services, but I need it to fetch all parameters of a component with a nested service from another namespace than it's private component namespace (dd2ef57).
  2. The getAllXXX() and setAllXXX() operations will recurse into services and also get/set their properties from/on the parameter server. This will only work for services, not for peers.
  3. If a service is passed to getXXX(name) or setXXX(name) operations and no property of that name exists, the rosparam service will search a service with that name and recursively call getAllXXX()/setAllXXX() for that specific service only.

Note that getAllAbsolute() and setAllAbsolute() (where the latter probably does not make so much sense anyway) currently are broken due to https://github.com/ros/ros_comm/pull/313.

Documentation in README.md still needs to be updated...