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
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