ROS1 vs ROS2 Comprehensive Comparison (5)
Parameter Usage Comparison Feature ROS1 ROS2 Parameter Storage Global parameter server (centralized) Node-specific parameters (distributed) Lifetime Exists as long as ROS master is running Exists only as long as the node is running Parameter Namespacing /global_param # Global parameter /node_name/param_name # Node parameter # All parameters are node-specific # Access using node name and parameter name /node_name: # Node param_name # Parameter Declaring Parameters Not required, parameters can be created on-the-fly Must be declared before use (with exceptions) C++ API (Setting Parameters) // Global parameter ros::param::set("/global_param", value); // Node parameter ros::NodeHandle nh; nh.setParam("param_name", value); // Must declare first t...