feat: add ParameterWatcher for real time parameter monitoring #1326
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
mahmoud-ghalayini
force-pushed
the
feat-add-parameter-watcher-for-real-time-parameter-monitoring-1325
branch
from
a91ddb6 to
211aa69
Compare
Member
|
Thanks for submitting the PR, will take a look later, thanks! |
There was a problem hiding this comment.
Pull Request Overview
This PR adds a new ParameterWatcher class that enables real-time monitoring of parameter changes on remote ROS 2 nodes. The implementation subscribes to the /parameter_events topic and filters events by node name and parameter names, emitting a 'change' event when watched parameters are modified.
Key Changes:
- New
ParameterWatcherclass with EventEmitter-based API for monitoring parameter changes - Integration with Node lifecycle for automatic cleanup and resource management
- Dynamic parameter watch list management via
addParameter()andremoveParameter()methods
Reviewed Changes
Copilot reviewed 7 out of 10 changed files in this pull request and generated 6 comments.
Show a summary per file
| File | Description |
|---|---|
| types/parameter_watcher.d.ts | TypeScript definitions for ParameterWatcher class and its options |
| types/node.d.ts | Added createParameterWatcher() and destroyParameterWatcher() method signatures |
| types/base.d.ts | Added reference to parameter_watcher.d.ts |
| lib/parameter_watcher.js | Core implementation of ParameterWatcher class with event handling and filtering |
| lib/node.js | Integration of ParameterWatcher into Node class with lifecycle management |
| index.js | Export of ParameterWatcher class in main module |
| test/test-parameter-watcher.js | Comprehensive test suite covering constructor, events, lifecycle, and edge cases |
| example/parameter/parameter-watcher-example.js | Example demonstrating real-time parameter monitoring with turtlesim |
| example/parameter/README.md | Documentation for ParameterWatcher usage and API |
| CONTRIBUTORS.md | Added attribution for ParameterWatcher feature |
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
minggangw
reviewed
Nov 18, 2025
Member
minggangw
left a comment
minggangw
left a comment
There was a problem hiding this comment.
Will take a closer look later, mostly looks good to me, thanks!
mahmoud-ghalayini
force-pushed
the
feat-add-parameter-watcher-for-real-time-parameter-monitoring-1325
branch
from
211aa69 to
1bd2a5a
Compare
minggangw
pushed a commit
that referenced
this pull request
Nov 26, 2025
Implement ParameterWatcher class to enable real-time monitoring of parameter changes on remote nodes. Subscribes to /parameter_events topic and emits 'change' events when watched parameters are modified. Features: - Watch specific parameters on remote nodes - Real-time change notifications via EventEmitter - Dynamic parameter list management (add/remove) - Async/await support with timeout and AbortSignal - Proper lifecycle management and cleanup
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
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:
remoteNodeName(getter)watchedParameters(getter)start(timeout?)- Start watchinggetCurrentValues(options?)- Get current valuesaddParameter(name)- Add to watch listremoveParameter(name)- Remove from watch liston('change', callback)- Listen for changesisDestroyed()/destroy()Implementation Details
Core Class:
lib/parameter_watcher.js/parameter_eventstopic'change'event when watched parameters changeaddParameter()/removeParameter()for dynamic managementNode Integration:
node.createParameterWatcher(remoteNodeName, parameterNames, options)node.destroyParameterWatcher(watcher)1325