rosrust subscribes to the entire parameter tree (/)

[jobafr]

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