The dynamic change of the priorities

Regarding the dynamic change of the priorities:

To get the priority of the topic '/add_two_ints' for example you have to call:

rosservice call /R0/wmp_control [0,0,0] 6 0 0 /add_two_ints

The '6' is the command get_priority recently added (refer to  http://www.ros.org/wiki/ros-rt-wmp#Controlling_the_ros_rt_wmp)

To set the priority you have to call:

rosservice call /R0/wmp_control [0,0,0] 5 12 0 /add_two_ints

where command '5' is set_priority and '12' is the new priority of the topic.

This is only for the local node. If you need to change remote node topic's priority you have to call:

rosservice call /R0/ remote/wmp_control [0,1,0] 6 0 0 /add_two_ints

where

[0,1,0] is respectively [source_node, destination_node, priority_of_the_call] and the other fields are the same as before.

Notice that is not possible to call local service with a remote call. In other words you can't call the service at /R0/remote/wmp_control from node R0. You have to call /R0/wmp_control instead.

Of course you can call these services from within an independent program or other node (I mean also not from command line).

P.D. I guess you remember but these changes are only on the 'testing' branch