If visiting the Walkway Over the Hudson from the Poughkeepsie side, what is the parking situation?

On the Poughkeepsie/Dutchess side, there is a lot and I think it cost us $5. You have to get off the main road and weave through some side streets, but we found it with no problem. I think there were also some street spots but they were farther from the entrance and I don't seem to recall seeing any empty ones when we were there.