ROS Programming: Building Powerful Robots

Using Parameter Server

Parameter Server is used to store data that is accessible to all nodes. ROS has a tool called rosparam to manage Parameter Server. The accepted parameters are as follows:

• rosparam set parameter value: This sets the parameter
• rosparam get parameter: This gets the parameter
• rosparam load file: This loads parameters from the file
• rosparam dump file: This dumps parameters to the file
• rosparam delete parameter: This deletes the parameter
• rosparam list: This lists the parameter names

For example, we can see the parameters in the server that are used by all nodes:

    $ rosparam list  

We obtain the following output:

    /background_b
    /background_g
    /background_r
    /rosdistro
    /roslaunch/uris/host_aaronmr_laptop__60878
    /rosversion ...