yarp_with_ros_parameters.dox

/*
 * Copyright (C) 2011 and 2016 Istituto Italiano di Tecnologia, iCub Facility.
 * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 *
 */

/**
 * @page yarp_with_ros_parameters Talking to the ROS parameter server

 
YARP has no special support for the ROS parameter server, but can
communicate with it via its [network API](http://wiki.ros.org/ROS/Parameter%20Server%20API). Here is a command-line example:

\verbatim
yarp rpc /ros
>>setParam /demo foo 15
Response: 1 "parameter /foo set" 0
>>getParam /demo foo
Target disappeared, reconnecting...
Response: 1 "Parameter [/foo]" 15
\endverbatim

From code, you could use a Bottle:

\code
  Network yarp;
  Contact ros = Network::queryName("/ros");
  printf("ROS available as %s\n", ros.toURI().c_str());

  // set a parameter called "foo" to 15
  Bottle cmd, reply;
  cmd.addString("setParam");
  cmd.addString("/demo");
  cmd.addString("foo");
  cmd.addInt(15);
  Network::write(ros,cmd,reply);
  printf("reply to setParam is: %s\n", reply.toString().c_str());

  // read "foo" back
  cmd.clear();
  cmd.addString("getParam");
  cmd.addString("/demo");
  cmd.addString("foo");
  Network::write(ros,cmd,reply);
  printf("reply to getParam is: %s\n", reply.toString().c_str());
  printf("Stored value is hopefully %d\n", reply.get(2).asInt());
  return 0;
\endcode

This should give:

\verbatim
ROS available as xmlrpc://127.0.0.1:11311
reply to setParam is: 1 "parameter /foo set" 0
reply to getParam is: 1 "Parameter [/foo]" 15
Stored value is hopefully 15
\endverbatim

*/