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Support setting parameters atomically#727

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ihasdapie wants to merge 2 commits intorollingfrom
brianc/atomic_parameter_set
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Support setting parameters atomically#727
ihasdapie wants to merge 2 commits intorollingfrom
brianc/atomic_parameter_set

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@ihasdapie ihasdapie commented Jun 23, 2022

This PR implements a --atomic flag for ros2 param set for setting parameters atomically from the command line.

@deepanshubansal01
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deepanshubansal01 commented Jun 23, 2022 •
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I might be wrong but based on my understanding we can only set one parameter currently using ros2 param set and hence setting params in an atomic fashion will not make sense using ros2 param set.

We should expose the --atomic flag for setting params atomically using ros2 service call #721 since we can set multiple params using service. Additionally, we can expose the --atomic flag for setting params using ros2 param load as well.

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clalancette commented Jun 23, 2022

We should expose the --atomic flag for setting params atomically using ros2 service call #721 since we can set multiple params using service.

The problem with that, though, is that --atomic there only makes sense for setting parameters, not other service calls. So I don't think the flag belongs on ros2 service call.

Additionally, we can expose the --atomic flag for setting params using ros2 param load as well.

This we should definitely do. The other thing we could do is to fix up ros2 param set so that it can take multiple parameters; at that point, it makes sense to add the --atomic flag.

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deepanshubansal01 commented Jun 23, 2022 •
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We should expose the --atomic flag for setting params atomically using ros2 service call #721 since we can set multiple params using service.

The problem with that, though, is that --atomic there only makes sense for setting parameters, not other service calls. So I don't think the flag belongs on ros2 service call.

Additionally, we can expose the --atomic flag for setting params using ros2 param load as well.

This we should definitely do. The other thing we could do is to fix up ros2 param set so that it can take multiple parameters; at that point, it makes sense to add the --atomic flag.

I see, makes sense!

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ihasdapie commented Jun 23, 2022

Right, I definitely wasn't thinking when I put this PR together 😅. Will update this PR to support multiple parameters & param load --atomic

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clalancette commented Jun 23, 2022

Will update this PR to support multiple parameters & param load --atomic

I'll suggest you do two separate PRs; the first one to add multiple param support to set, and then a second one (maybe this one) to add the --atomic flag. They are logically independent things, so they should have different PRs.

@ihasdapie ihasdapie force-pushed the brianc/atomic_parameter_set branch from 5bd9a70 to 13a8d16 Compare June 23, 2022 21:57
@ihasdapie ihasdapie mentioned this pull request Jun 23, 2022
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ihasdapie commented Jun 23, 2022

ros2 param set with multiple parameters PR opened: #728

This PR is based off that PR (#728) and now implements --atomic for set and load verbs.

Diff: brianc/multiple_param_set...brianc/atomic_parameter_set

@audrow audrow changed the base branch from master to rolling June 28, 2022 14:23
ihasdapie added 2 commits July 22, 2022 15:52
@ihasdapie
multiple param set
dfb3b8b 
Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
@ihasdapie
--atomic flag for load & set
fb6efc1 
Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
@ihasdapie ihasdapie force-pushed the brianc/atomic_parameter_set branch from 13a8d16 to fb6efc1 Compare July 22, 2022 22:54
fujitatomoya
fujitatomoya reviewed Jul 28, 2022
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ros2param/ros2param/api/__init__.py
@@ -50,6 +50,10 @@ def load_parameter_file(*, node, node_name, parameter_file, use_wildcard):
parameters = list(parameter_dict_from_yaml_file(parameter_file, use_wildcard).values())
rclpy.spin_until_future_complete(node, future)
response = future.result()
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@fujitatomoya fujitatomoya Jul 28, 2022

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i think this call will raise exception if there is an actual exception.

ros2param/ros2param/api/__init__.py
future = client.load_parameter_file_atomically(parameter_file, use_wildcard)
parameters = list(parameter_dict_from_yaml_file(parameter_file, use_wildcard).values())
rclpy.spin_until_future_complete(node, future)
response = future.result()
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@fujitatomoya fujitatomoya Jul 28, 2022

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same here

ros2param/ros2param/api/__init__.py
raise RuntimeError('Exception while calling service of node '
f'{node_name}: {future.exception()}')

if response.result.successful:
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@fujitatomoya fujitatomoya Jul 28, 2022

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if response.result.successful is false, user can know that loading parameter operation has been failed?

ros2param/ros2param/api/__init__.py
f'{node_name}: {future.exception()}')

if response.result.successful:
msg = 'Set parameters {} successful'.format(' '.join([i.name for i in parameters]))
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@fujitatomoya fujitatomoya Jul 28, 2022

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this whole operation is atomic, and user knows parameters as input, so i am not sure if we need print all parameters again here. probably this command prints the result only?

ros2param/ros2param/api/__init__.py
client.wait_for_services(timeout_sec=5.0)
future = client.set_parameters_atomically(parameters)
rclpy.spin_until_future_complete(node, future)
response = future.result()
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same here.

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Support setting parameters atomically using ros2 service command line

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@ihasdapie @deepanshubansal01 @clalancette @fujitatomoya