# ROS Action / Parameter Bridge

**URL:** <https://discourse.openrobotics.org/t/ros-action-parameter-bridge/9102>\
**Category:** ROS General\
**Tags:** ros2\
**Created:** [May 10, 2019, 7:54am UTC](https://discourse.openrobotics.org/t/ros-action-parameter-bridge/9102 "2019-05-10T07:54:33Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![tomoyafujita](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/tomoyafujita/32/6097_2.png) [@tomoyafujita](https://discourse.openrobotics.org/u/tomoyafujita)\
**Post date:** [May 10, 2019, 7:54am UTC](https://discourse.openrobotics.org/t/ros-action-parameter-bridge/9102/1 "2019-05-10T07:54:33Z")

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just want to here opinions and comments on this topic from everyone.

ROS2 does not have parameter server, which is different architecture from ROS1 that parameter combined with individual nodes. that is totally fine, but what im considering is we need parameter bridge or not? i guess that there would be some time window to support ROS1 and ROS2 hybrid system. at that time, maybe parameter bridge would be required. and if this is common request, that there should be some module to do that.

besides about the actions bridge, this would be also required as well. (BTW, actions just coming up with “Dashing”)

I really like to hear opinions about this, so please share what you think. any idea/comments will do good.

thanks

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**Author:** ![ipa-hsd](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/ipa-hsd/32/2373_2.png) [@ipa-hsd](https://discourse.openrobotics.org/u/ipa-hsd)\
**Post date:** [May 10, 2019, 11:00am UTC](https://discourse.openrobotics.org/t/ros-action-parameter-bridge/9102/2 "2019-05-10T11:00:56Z")

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We at Fraunhofer IPA, have a proposal for an action\_bridge.

> **[Introducing action\_bridge](https://discourse.ros.org/t/introducing-action-bridge/9103)**
>
> Hello everyone! On the eve of recently organized ROS-Industrial EU Spring '19 Workshop on DDS and ROS2 at Fraunhofer IPA, our team presented a short “how-to” on porting ur\_modern\_driver to ROS2. More interestingly, for the purpose, we had to...

Feedback and PRs are welcome.

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**Author:** ![Chris\_Albertson](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/chris_albertson/32/6094_2.png) [@Chris\_Albertson](https://discourse.openrobotics.org/u/Chris_Albertson)\
**Post date:** [May 10, 2019, 4:51pm UTC](https://discourse.openrobotics.org/t/ros-action-parameter-bridge/9102/3 "2019-05-10T16:51:00Z")

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If ros2 lacks a parameter server then be sure to write your parameter bridge carefully as it will become the defacto ros2 parameter server and have a long life. It will not be a temporary thing. Temporary solutions like this tend to not be temporary if they fill a need

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**Author:** ![dirk-thomas](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/dirk-thomas/32/4328_2.png) [@dirk-thomas](https://discourse.openrobotics.org/u/dirk-thomas)\
**Post date:** [May 10, 2019, 5:22pm UTC](https://discourse.openrobotics.org/t/ros-action-parameter-bridge/9102/4 "2019-05-10T17:22:57Z")

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> [@tomoyafujita](#):
>
> ROS2 does not have parameter server

While ROS 2 doesn’t provide an official parameter server replacement any node can provide that functionality. A demo of such a node is being proposed in [add parameter\_blackboard to make some tutorials easier by wjwwood · Pull Request #333 · ros2/demos · GitHub](https://github.com/ros2/demos/pull/333)

> [@tomoyafujita](#):
>
> BTW, actions just coming up with “Dashing”

Actions have already been available in Crystal, see past announcements:

- C / C++ ([ROS 2 Crystal Clemmys Released! - ROS General - Open Robotics Discourse](http://discourse.ros.org/t/ros-2-crystal-clemmys-released/7137))
- Python ([Patch release and new packages for ROS 2 Crystal Clemmys 2019-03-14 - ROS General - Open Robotics Discourse](http://discourse.ros.org/t/patch-release-and-new-packages-for-ros-2-crystal-clemmys-2019-03-14/8311))

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**Author:** ![tomoyafujita](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/tomoyafujita/32/6097_2.png) [@tomoyafujita](https://discourse.openrobotics.org/u/tomoyafujita)\
**Post date:** [May 13, 2019, 2:02am UTC](https://discourse.openrobotics.org/t/ros-action-parameter-bridge/9102/5 "2019-05-13T02:02:44Z")

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@ipa-hsd

alright, let’s discuss action\_bridge on [introducing-action-bridge](http://discourse.ros.org/t/introducing-action-bridge/9103).

@dirk-thomas  
sorry i was missing the information, that is Crystal.  
anyway i will look into [add parameter\_blackboard to make some tutorials easier by wjwwood · Pull Request #333 · ros2/demos · GitHub](https://github.com/ros2/demos/pull/333).