I'm porting a system to ROS that will be composed of several nodes linked by topics in a chain-like structure, in a way that each node produces some data to be consumed by the callback of the next node.
The problem I'm facing is that some of the nodes set variables that represent "system states" that influence the behavior of other nodes later in the chain (not the next imediate one). I'm wondering what is the best way to implement such thing on ROS.
I though about using the parameter server with getParam() and setParam() for that, but I read in the [Parameter Server page](http://wiki.ros.org/Parameter%20Server) that:
> As it is not designed for high-performance, it is best used for static, non-binary data such as configuration parameters.
So I'm not sure if I should use it for these state variables. I also read about getCachedParam(), but I think the same doubt about the performance applies. I also saw [dynamic_reconfigure](http://wiki.ros.org/dynamic_reconfigure), but I don't know if it was developed for this kind of scenario.
Could anyone tell me what would be the best way to implement this in ROS?
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