In a decentralized system, we'd to spawn nodes which serve as parameter servers. The example Mikael gave shows the basic usage. You can have a look what was done for the ros2_control implementation. https://github.com/ros-controls/ros2_control/tree/master/controller_parameter_server The "controller_parameter_server" is meant as a global parameters server, which has capabilities to load params from yaml files and puts them in their respective namespaces. Various controllers can then fetch these values with the remote_parameter_client. https://github.com/ros-controls/ros2_controllers/blob/master/ros_controllers/src/joint_trajectory_controller.cpp --- [Visit Topic](https://discourse.ros.org/t/status-of-parameters/3285/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: