New async rosapi params module implementation #1001
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
sea-bass
approved these changes
Feb 14, 2025
Contributor
sea-bass
left a comment
sea-bass
left a comment
There was a problem hiding this comment.
Overall looks good -- no major comments
| client = _node.create_client( | ||
| SetParameters, | ||
| f"{node_name}/set_parameters", | ||
| callback_group=MutuallyExclusiveCallbackGroup(), |
Contributor
There was a problem hiding this comment.
Did you also want this to be reentrant callback group?
Member
Author
There was a problem hiding this comment.
No need for service clients as they are created only for a single service call. In fact, if I understand it correctly, using the default callback group should be also ok here but, just in case I'm wrong, I create unique callback groups for each client.
| client = _node.create_client( | ||
| GetParameters, | ||
| f"{node_name}/get_parameters", | ||
| callback_group=MutuallyExclusiveCallbackGroup(), |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Public API Changes
The
set_param,get_param, anddelete_paramservice types now include:These changes do not break the compatibility with the current version of
roslibjsclient, as it will ignore these new fields. Additionally, to make it backward compatible, ifget_paramfails, the value field in the response will still be set to an empty JSON string.Description
Changed the implementation of rosapi params module to take advantage of async/await feature of rclpy executor instead of creating a separate node.
Aside from the aforementioned API change, there are few implementation changes:
get_param_namescallslist_parametersservice for each node in parallel, not sequentially. This should make it much more robust, especially if the node graph is quite big.ReentrantCallbackGroupwhich means multiple service callbacks can be processed asynchronously.ros2paramcli package are no longer used as they are not awaitable.