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rosrust subscribes to the entire parameter tree (/) #204

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jobafr opened this issue Apr 5, 2024 · 0 comments
Open

rosrust subscribes to the entire parameter tree (/) #204

jobafr opened this issue Apr 5, 2024 · 0 comments

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@jobafr
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jobafr commented Apr 5, 2024

Hi,

I noticed considerable load on my roscore due to lots of paramUpdate entries in ~/.ros/log/latest/master.log. I patched roscore so it would log which nodes are being updated of a param, and it seems all rosrust nodes are notified of all param changes on the entire system.

The cause seems to be this line.

As far as I can tell, calling subscribe_param with a normal parameter name does in fact notify the client of relevant changes to the parameter (including when a parent gets updated), so I'm wondering whether I'm missing something and what the intention is behind subscribing the entire tree.

Best regards

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