WIP - Scratch last idea, re-instating global variables. Include all as extern variables in Parameter class, included on all other classes. Parameters are thus read only once at start of experiment, this way slow network I/O is avoided during execution
Finished moving all global parameters to the Parameter shared class, except Vector2 values which for some reason are not recognised as a type. New issue has appeared where the launch file complains about couldn't find an AF_INET, no solution as of yet