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Parameter Server and persistence

asked 2020-04-27 17:48:41 -0500

Frans gravatar image

I somehow expected the Parameter Server to be backed by some persistent storage.

Am I missing something or is it correct that any changes to the default parameters are gone the moment the master is stopped/restarted?

Are there any best practices for making the configuration persistant?

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answered 2020-04-28 04:21:21 -0500

gvdhoorn gravatar image

updated 2020-04-28 09:47:53 -0500

As already mentioned by @Procópio, the built-in parameter server is not persistent.

There are some alternative implementations though, and some are persistent.

vapor_master is one of those implementations. You may want to see whether this covers your requirements.

Edit: a presentation at ROSCon17 which provides some insight/background: DMTCP: Fixing the Single Point of Failure of the ROS Master (video, slides).

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And I actually consider it a feature that the parameter server is not persistent. It makes resetting everything to a known state that much easier.

gvdhoorn gravatar image gvdhoorn  ( 2020-04-28 04:22:57 -0500 )edit

Did not know about that tool. Quite nice, thanks.

Procópio gravatar image Procópio  ( 2020-04-28 08:22:47 -0500 )edit

answered 2020-04-28 02:54:10 -0500

Procópio gravatar image

This is the expected behavior. Once the master is gone, so are the parameters.

The best you can do is to run a master in a separate terminal and keep it alive while you run/launch other things in another terminal.

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Asked: 2020-04-27 17:47:10 -0500

Seen: 29 times

Last updated: Apr 28