fujitatomoya · fujitatomoya · Oct 17, 2025 · Sep 30, 2025 · Sep 30, 2025 · Oct 10, 2025
diff --git a/server/CMakeLists.txt → CMakeLists.txt b/server/CMakeLists.txt → CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(parameter_server VERSION 1.0.1)
+project(persist_parameter_server VERSION 1.0.1)
 
 # Set Release build if no build type was specified
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
@@ -33,9 +33,11 @@ find_package(rmw REQUIRED)
 find_package(Boost REQUIRED COMPONENTS program_options filesystem)
 find_package(yaml_cpp_vendor REQUIRED)
 
+option(CLIENT_TEST_DEMO "Build client test demo" OFF)
+
 add_executable(server
- src/parameter_server.cpp
- src/main.cpp
+ server/src/parameter_server.cpp
+ server/src/main.cpp
 )
 
 # yaml-cpp updates CMake thing significantly on v0.8.0 or later.
@@ -69,16 +71,65 @@ endif()
 
 target_include_directories(server
   PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/server/include>
 )
 
 install(TARGETS server DESTINATION lib/${PROJECT_NAME})
 
 # Install launch files.
 install(DIRECTORY
-  launch
-  param
+  server/launch
+  server/param
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Build client test demo
+if (CLIENT_TEST_DEMO)
+add_executable(client_default
+  test/src/test_default.cpp
+  test/src/persist_parameter_client.cpp
+)
+
+target_link_libraries(client_default
+  PUBLIC
+  rclcpp::rclcpp
+  rclcpp_components::component
+  rcutils::rcutils
+  ${std_msgs_TARGETS}
+  ${std_srvs_TARGETS}
+)
+
+target_include_directories(client_default
+  PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/test/include>
+)
+
+add_executable(client_with_node_options
+  test/src/test_with_node_options.cpp
+  test/src/persist_parameter_client.cpp
+)
+
+target_link_libraries(client_with_node_options
+  PUBLIC
+  rclcpp::rclcpp
+  rclcpp_components::component
+  rcutils::rcutils
+  ${std_msgs_TARGETS}
+  ${std_srvs_TARGETS}
+)
+
+target_include_directories(client_with_node_options
+  PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/test/include>
+)
+
+install(TARGETS client_default client_with_node_options DESTINATION lib/${PROJECT_NAME})
+
+# Install launch files.
+install(DIRECTORY
+  test/launch
   DESTINATION share/${PROJECT_NAME}/
 )
+endif()
 
 ament_package()
diff --git a/README.md b/README.md
@@ -69,7 +69,7 @@ parameter server has the following scope for persistent parameter. since paramet
 |  Persistent Parameter File  |  YES  | parameter server dedicated argument to specify the file to load as parameters. in addition, all of the persistent parameters will be stored into this file during shutdown.<br> e.g) --file-path /tmp/parameter_server.yaml |
 |  Parameter Arguments  |  NO  |  e.g) --ros-args -p persistent.some_int:=42<br>some_int cannot be registered as persistent parameter, since this cannot be notified via **/parameter_events** to parameter server.  |
 |  Parameter File Arguments  |  NO  |  e.g) --ros-args --params-file ./parameters_via_cli.yaml<br>same with parameter arguments, cannot be registered as persistent parameter, since these cannot be notified via **/parameter_events**  to parameter server. |
-|  Launch Parameter  |  NO  |  e.g) ros2 launch parameter_server parameter_server.launch.py<br>same with parameter arguments, cannot be registered as persistent parameter, since these cannot be notified via **/parameter_events**  to parameter server.  |
+|  Launch Parameter  |  NO  |  e.g) ros2 launch persist_parameter_server parameter_server.launch.py<br>same with parameter arguments, cannot be registered as persistent parameter, since these cannot be notified via **/parameter_events**  to parameter server.  |
 
 ### Configurable Options
 
@@ -193,21 +193,21 @@ apt install libyaml-cpp-dev libboost-program-options-dev libboost-filesystem-dev
 
 Install local colcon workspace,
 
-```console
-$ cd <colcon_workspace>/src
-$ git clone https://github.com/fujitatomoya/ros2_persist_parameter_server
-$ cd <colcon_workspace>
-$ colcon build --symlink-install --packages-select parameter_server ros2_persistent_parameter_server_test
-$ source install/local_setup.bash
+```bash
+# cd <colcon_workspace>/src
+# git clone https://github.com/fujitatomoya/ros2_persist_parameter_server
+# cd <colcon_workspace>
+# colcon build --symlink-install --packages-select persist_parameter_server --cmake-args -D CLIENT_TEST_DEMO=ON
+# source install/local_setup.bash
 ```
 
 ### Run
 
 1. start parameter server.
 
-   ```console
-   $ cp <colcon_workspace>/src/ros2_persist_parameter_server/server/param/parameter_server.yaml /tmp/
-   $ ros2 run parameter_server server
+   ```bash
+   # cp <colcon_workspace>/src/ros2_persist_parameter_server/server/param/parameter_server.yaml /tmp/
+   # ros2 run persist_parameter_server server
    [INFO] [parameter_server]: Parameter Server node named: '/parameter_server' started and ready, and serving '9' parameters already!
    ...<snip>
    ```
@@ -227,8 +227,8 @@ $ source install/local_setup.bash
 
 3. restart parameter server.
 
-   ```console
-   $ ros2 run parameter_server server
+   ```bash
+   # ros2 run persist_parameter_server server
    [INFO] [parameter_server]: Parameter Server node named: '/parameter_server' started and ready, and serving '9' parameters already!
    ...<snip>
    ```

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -40,7 +40,7 @@ RUN apt-get update \
 # Build and source colcon workspace
 RUN cd $COLCON_WS \
     && source /opt/ros/$ROS_DISTRO/setup.bash \
-    && colcon build --symlink-install --packages-select parameter_server
+    && colcon build --symlink-install --packages-select persist_parameter_server
 
 # Add source environment in .bashrc
 RUN echo -n -e "\n" >> /root/.bashrc

diff --git a/k8s/deployment.yaml b/k8s/deployment.yaml
@@ -17,7 +17,7 @@ spec:
         image: tomoyafujita/ros2_param_server:rolling
         command: ["/bin/bash", "-c"]
         args:
-        - "source /opt/ros/rolling/setup.bash && source /root/colcon_ws/install/setup.bash && ros2 run parameter_server server --file-path /etc/config/parameter_server.yaml"
+        - "source /opt/ros/rolling/setup.bash && source /root/colcon_ws/install/setup.bash && ros2 run persist_parameter_server server --file-path /etc/config/parameter_server.yaml"
         resources:
           requests:
             memory: "128Mi"

diff --git a/k8s/parameters.yaml b/k8s/parameters.yaml
@@ -7,7 +7,7 @@ data:
     /parameter_server:
       ros__parameters:
         # This file is expected to be used as following,
-        # > ros2 run parameter_server server --file-path /tmp/parameter_server.yaml
+        # > ros2 run persist_parameter_server server --file-path /tmp/parameter_server.yaml
         #
         # Not persistent parameter.
         # These just will be loaded as normal parameters.

diff --git a/server/package.xml → package.xml b/server/package.xml → package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>parameter_server</name>
+  <name>persist_parameter_server</name>
   <version>1.0.1</version>
   <description>
     ros2 parameter server that other nodes can write/read parameters including persistent parameters.

diff --git a/presentation/jp/ros2_parameter_server.html b/presentation/jp/ros2_parameter_server.html
diff --git a/presentation/jp/ros2_parameter_server.md b/presentation/jp/ros2_parameter_server.md
@@ -54,7 +54,7 @@ Comment Here
 
 ```console
 $ docker run -it tomoyafujita/ros2_param_server:rolling /bin/bash
-root@bf4d904e3800:~/colcon_ws# ros2 run parameter_server server
+root@bf4d904e3800:~/colcon_ws# ros2 run persist_parameter_server server
 ```
 
 - Kubernetes

diff --git a/presentation/ros2_parameter_server.html b/presentation/ros2_parameter_server.html
diff --git a/presentation/ros2_parameter_server.md b/presentation/ros2_parameter_server.md
@@ -54,7 +54,7 @@ Comment Here
 
 ```console
 $ docker run -it tomoyafujita/ros2_param_server:rolling /bin/bash
-root@bf4d904e3800:~/colcon_ws# ros2 run parameter_server server
+root@bf4d904e3800:~/colcon_ws# ros2 run persist_parameter_server server
 ```
 
 - Kubernetes

diff --git a/scripts/build-verification.sh b/scripts/build-verification.sh
@@ -49,7 +49,7 @@ function build_parameter_server () {
     echo "[${FUNCNAME[0]}]: build ROS 2 parameter server."
     source /opt/ros/${ROS_DISTRO}/setup.bash
     cd ${COLCON_WORKSPACE}
-    colcon build --symlink-install --packages-select parameter_server ros2_persistent_parameter_server_test
+    colcon build --symlink-install --packages-select persist_parameter_server --cmake-args -D CLIENT_TEST_DEMO=ON
 }
 
 function test_parameter_server () {

diff --git a/server/launch/parameter_server.launch.py b/server/launch/parameter_server.launch.py
@@ -28,7 +28,7 @@ def generate_launch_description():
     return LaunchDescription(
         [
             launch_ros.actions.Node(
-                package="parameter_server",
+                package="persist_parameter_server",
                 executable="server",
                 output="screen",
                 # respawn in 5.0 seconds

diff --git a/server/param/parameter_server.yaml b/server/param/parameter_server.yaml
@@ -1,7 +1,7 @@
 /**:
     ros__parameters:
         # This file is expected to be used as following,
-        # > ros2 run parameter_server server --file-path /tmp/parameter_server.yaml
+        # > ros2 run persist_parameter_server server --file-path /tmp/parameter_server.yaml
         #
         # Not persistent parameter.
         # These just will be loaded as normal parameters.

diff --git a/server/param/parameters_via_cli.yaml b/server/param/parameters_via_cli.yaml
@@ -1,7 +1,7 @@
 /**:
     ros__parameters:
         # This file is expected to be used
-        # > ros2 run parameter_server server --ros-args --params-file <path_to>/parameters_via_cli.yaml
+        # > ros2 run persist_parameter_server server --ros-args --params-file <path_to>/parameters_via_cli.yaml
         # 
         # all of the parameters here cannot be registered as persistent parameter,
         # since these are set internally with library and not able to detect via /parameter_events topic.

diff --git a/server/param/parameters_via_launch.yaml b/server/param/parameters_via_launch.yaml
@@ -1,7 +1,7 @@
 /**:
     ros__parameters:
         # This file is expected to be used with ros2 launch
-        # > ros2 launch parameter_server parameter_server.launch.py
+        # > ros2 launch persist_parameter_server parameter_server.launch.py
         # 
         # all of the parameters here cannot be registered as persistent parameter,
         # since these are set internally with library and not able to detect via /parameter_events topic.

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
diff --git a/test/launch/test.launch.py b/test/launch/test.launch.py
@@ -29,7 +29,7 @@ def generate_launch_description():
         allow_dynamic_typing_arg,
         ExecuteProcess(
             cmd=[
-                'ros2', 'run', 'parameter_server', 'server',
+                'ros2', 'run', 'persist_parameter_server', 'server',
                 '--file-path', '/tmp/test/parameter_server.yaml',
                 '--allow-dynamic-typing', LaunchConfiguration(
                     'allow_dynamic_typing')

diff --git a/test/package.xml b/test/package.xml
diff --git a/test/test.py b/test/test.py
@@ -13,14 +13,14 @@
 
 signal.signal(signal.SIGINT, signal.SIG_DFL)
 sleep_time = 3
-launchServerCmd = ['ros2', 'launch', 'ros2_persistent_parameter_server_test', 'test.launch.py']
+launchServerCmd = ['ros2', 'launch', 'persist_parameter_server', 'test.launch.py']
 launchClientCmd = ['ros2', 'run',
-                   'ros2_persistent_parameter_server_test', 'client_default']
+                   'persist_parameter_server', 'client_default']
 
 launchServerCmdWithNodeOptions = [
-    'ros2', 'launch', 'ros2_persistent_parameter_server_test', 'test.launch.py', 'allow_dynamic_typing:=true']
+    'ros2', 'launch', 'persist_parameter_server', 'test.launch.py', 'allow_dynamic_typing:=true']
 launchClientCmdWithNodeOptions = [
-    'ros2', 'run', 'ros2_persistent_parameter_server_test', 'client_with_node_options']
+    'ros2', 'run', 'persist_parameter_server', 'client_with_node_options']
 
 if shutil.which('ros2') is None:
     print("source <colcon_ws>/install/setup.bash...then retry.")
@@ -34,7 +34,7 @@ def kill_server():
         for process in psutil.process_iter():
             if process.name() == program_name:
                 path = psutil.Process(process.pid)
-                if "install/parameter_server/lib/parameter_server" or "parameter_server/server" in path.exe():
+                if "install/persist_parameter_server/lib/persist_parameter_server" or "persist_parameter_server/server" in path.exe():
                     os.kill(int(process.pid), signal.SIGINT)
                     print("parameter server is killed successfully")
                     break