Each time I read and write from and to the servos in my symmetric robot, I want to check a mode that determines which servos to talk to (the frames of this robot can change while it's running). Because the reading and writing happens continuously through topics, I want to make sure this checking adds as little overhead as possible.
I considered two solutions: services and a parameter server. From what I understand, [services](http://wiki.ros.org/Services) seem to be able to do this quickly, but it looks like they can't deliver a different response, as when the mode changes. A [Parameter Server](http://wiki.ros.org/Parameter%20Server) can do the trick, but the wiki explicitly states that it's not meant for high-performance and dynamic data. Are there any other solutions or am I overestimating the overhead with the parameter server?
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