Understanding the parameter server and dynamic parameters

In the previous chapter, we learned that the parameter server is a part of the ROS Master and allows the ROS system to keep the data or configuration information that is to be stored in a central place. All nodes can access and modify these values.

We have experience with the rosparam tool so we can work with the parameter server. The parameters can be changed dynamically during the execution of the node that uses these parameters, using the dyamic_reconfigure package. In the next section, we will learn about the dynamic parameters utility in ROS in detail.

Getting ready

Generally, we program a node where we initialize the variables with data values that can only be modified within the node. If it is required to modify these values dynamically from outside the running node, we can use the Parameter Server, services, or topics.

For example, if we are working with a node that uses the PID controller to control the optimum speed of the motor...