ROS Parameter Server in DDS

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Tue, 02/15/2022 - 10:35
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Tao
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ROS Parameter Server in DDS

Dear all,

Does ConnextDDS offer some features similar to the ROS Paramter Server?

E.g. a central location (or distributed locations) that holds paramters for the apps in runtime, the apps can query the parameter server to get the correct value as needed?

Thanks,

Tao

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Tue, 02/15/2022 - 11:09
Howard
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Hi Tao,

While there's no Connext service that offers that exact functionality out-of-the-box, it would be pretty straightforward, and simple, to build such a service oneself.

For the parameter server side, you just have to create an application that reads the parameters from a file (using whatever format you want) and writes them with a DataWriter configured to be non-Volatile DurabilityQos.  So the DataWriter has all of the parameters in its cache.  The datatype of the DataWriter's topic should be able to hold the parameter identifier and value, e.g., name/value pair.

Then for the applications themselves, they would use the TopicQuery API to request the values of parameters.

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Tue, 02/15/2022 - 11:53
Tao
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Thanks a lot Howard for your quick reply! We are thinking of same you just pointed out.

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