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  {
   "cell_type": "markdown",
   "id": "9ed828cb-43ae-4592-a06c-6b41275be43e",
   "metadata": {},
   "source": [
    "## Tutorial to use ros param widgets"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "4e853e6e-b262-4634-8419-743b78a0eb2b",
   "metadata": {},
   "source": [
    "Prepare the environment for roscpp"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "8210c14f-cdbc-45a7-bc90-7f25829883ce",
   "metadata": {},
   "outputs": [],
   "source": [
    "! python3 ../scripts/generate_cling_3rd_party.py roscpp"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "197ce37a-1dba-4e24-850e-c353053afa42",
   "metadata": {},
   "outputs": [],
   "source": [
    "#include \"load_roscpp.h\""
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "7e106b28-e60f-46c5-8a23-10ef1912319a",
   "metadata": {},
   "outputs": [],
   "source": [
    "#include \"jupyter_ros_utils/ros1_param.hpp\""
   ]
  },
  {
   "cell_type": "markdown",
   "id": "1181dbdc",
   "metadata": {},
   "source": [
    "### Start node"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "35bcbb65-2a54-4244-8651-05b6bc277627",
   "metadata": {},
   "outputs": [],
   "source": [
    "ros_init(\"param_widget\")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "7d34edfa",
   "metadata": {},
   "source": [
    "### Create Param Widget"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "f3cdf144-bc08-45fa-86a3-5f11fc397088",
   "metadata": {},
   "outputs": [],
   "source": [
    "ZeusParam zp1(\"/asd\");\n",
    "zp1.display();"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "22e13bc2-8ce1-4ad0-ae19-e078f8e6aeb4",
   "metadata": {},
   "source": [
    "### Control Param Widget\n",
    "`Set Param` button sets ros parameters.<br>\n",
    "This parameter starts to be monitored after pressing `Start Waiting` button.<br><br>\n",
    "Before running the code below, try to press \"Start Waiting\" on the widgets above.\n",
    "You'd be able to see the changes from ❌ <-> ✅ after running the `rosparam set` or `rosparam delete`"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "fd8543c3-283f-43ed-bfb1-51ffa8dcd4bd",
   "metadata": {},
   "outputs": [],
   "source": [
    "! rosparam set /asd some_value"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "31ab2084-4c6a-4e04-90c6-754eec3685a2",
   "metadata": {},
   "outputs": [],
   "source": [
    "! rosparam delete /asd "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "2965b62b-79d0-4743-93f9-09ae968e9cc9",
   "metadata": {},
   "outputs": [],
   "source": [
    "! rosparam set /asd new_value"
   ]
  }
 ],
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