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Only released in EOL distros:   kinetic

Overview

sync_params provides a means to synchronize parameter servers between multiple ROS masters. The parameter server is polled, and new parameters are published as a topic. The topic is then synchronized across masters using multimaster_fkie. The topic is received and written to the parameter server on the other ROS master.

By default, all parameters will be synchronized. The blacklist excludes parameters based on their name. The whitelist parameters are exempt from the blacklist. These can both be regular expressions. For example:

blacklist = ["/*"]
whitelist = [/my_parameter]

Would only synchronize my_parameter.

The parameter use_wall_time is designed for spawning robots in Gazebo. Gazebo pauses the ROS clock when loading a robot, and waits for the robot_description parameter. But that parameter might not get synchronized if sync_params uses the ROS clock.

Usage

Examples can be found in the launch folder.

Nodes

sync_params

Synchronise parameter servers across multiple ROS masters.

Subscribed Topics

/params (sync_params/ParameterMsg)

• The topic containing parameters to be synced

Published Topics

/params (sync_params/ParameterMsg)

• The topic containing parameters to be synced

Parameters

~debug (boolean, default: false)

• Whether to print out lots of information

~rate (double, default: 1.0)

• The rate to poll the parameter server

~death_timer (double, default: -1.0)

• How many ROS seconds until publishing stops.

~use_wall_time (boolean, default: false)

• Whether to use computer clock instead of ROS clock. Does not affect death_timer

~blacklist (array, default: [])

• List of parameter names to exclude from synchronising

~whitelist (array, default: [])

• List of parameter names to exclude from the blacklist