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ros-visualization / rqt_reconfigure

http://wiki.ros.org/rqt_reconfigure
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[ROS2] Listen for parameter events #110

Closed bjsowa closed 10 months ago

bjsowa commented 2 years ago

When a parameter is changed externally (for example by using ros2 param set), the rqt_reconfigure does not update the values, unless the node is reselected. Similarly, the plugin does not react when a node declare a new parameter or undeclares one.

This can be easily improved by subscribing to the global /parameter_events topic, filtering the messages for only the selected nodes and updating the UI according to the events.

berndpfrommer commented 2 years ago

I second that feature request. In particular refreshing the values would already help my use case, where a device driver may not be able to change the value of a parameter to the exact number set by the rqt_reconfigure gui. Without rqt_reconfigure updating on parameter change, the device driver has no way of providing feedback to the rqt_reconfigure gui about what the actual current parameter setting is.

huemerj commented 1 year ago

I support that feature request too, having a similar use case as @berndpfrommer in mind.

bjsowa commented 1 year ago

I incorrectly assumed that rqt_reconfigure does not subscribe on the /parameter_events topic while in fact it does and it handles the events here:

https://github.com/ros-visualization/rqt_reconfigure/blob/rolling/src/rqt_reconfigure/param_client_widget.py#L143-L159

The reason it does not work is related to #126. With this PR, the parameter values are correctly being updated.