Discuss "global" Stack Parameters
In ROS 2, the concept of "global parameters" doesn't really exist because all parameters are node-specific. However, in a ROS stack such as Autoware.Auto, there is a need to have specific parameters defined in a single location and used in several places. This is where utilities like rclcpp::SyncParametersClient
and rclcpp::AsyncParametersClient
are useful. This issue is to discuss the need for and implementation of parameters such as these. Some example use cases:
- Vehicle Parameters (e.g. wheelbase, steering gear ratio, maximum velocity, minimum turning radius, etc.)
- Sensing limitations (e.g. max sensing distance)
- Others?