ROS 2 Persistent Parameter Server

• inspired by ROS 1 parameter server.
• can set/get any parameters in this global server.
• can save/load the parameters in storage.

Why we need this?

• Global configuration that many nodes share (e.g. RTOS priorities, vehicle dimensions, …)
• Generic ROS 2 system or localhost wide parameter server.
• Persistent storage support to re-initialize the system.
  • parameters are modified in runtime and cached into persistent volume as well. and next boot or next re-spawn, modified parameters will be loaded at initialization. (parameter lifetime is dependent on use case, sometimes system lifetime, sometimes node lifetime.)
• Using ROS 1 based application with Parameter Server.

How to Run

• Docker

$ docker run -it tomoyafujita/ros2_param_server:rolling /bin/bash
root@bf4d904e3800:~/colcon_ws# ros2 run parameter_server server

• Kubernetes

$ kubectl apply -f ./k8s/parameters.yaml
$ kubectl apply -f ./k8s/deployment.yaml

Issues and PRs are always welcome

https://github.com/fujitatomoya/ros2_persist_parameter_server