rclcpp Add ParameterDescriptor override from yaml

This PR (built on top of required PR https://github.com/ros2/rcl/pull/533) allows for parameter descriptions to be parsed from the yaml parameter file (proposed syntax described in above PR link) into the parameter_overrides when declaring a parameter via declare_parameter. This enables users to describe the parameter constraints at run-time to fill a ParameterDescriptor.msg for parameter validation and documentation. As mentioned in https://github.com/ros2/rclcpp/issues/807#issuecomment-521391965, this feature may be particularly useful for a "parameter blackboard" or for dynamic parameter tuning.

Matching modifications can be made to enable this feature for rclpy.

Oct 30 '19 00:10 bpwilcox

@hidmic can you please take a look at these pr's?

Nov 15 '19 23:11 wjwwood

@hidmic Thanks for the first pass reviews! In regard to changes to rclpy, I do have have a local branch with modifications that I can update for a PR soon after this one.

Nov 23 '19 00:11 bpwilcox

@bpwilcox do you still plan on submitting changes? Or shall I close this patch?

Feb 12 '21 21:02 hidmic

@bpwilcox do you still plan on submitting changes? Or shall I close this patch?

Yes, I believe I should have some more cycles to work on this in the near future.

Feb 19 '21 21:02 bpwilcox

FYI this PR has been rebased to work with Galactic and it's ready for review, together with https://github.com/ros2/rcl/pull/533

Aug 09 '21 13:08 alsora

@hidmic Could you take another pass through this review since latest changes?

Jan 31 '22 20:01 bpwilcox

@bpwilcox yes! I'll take a look at these tomorrow morning first thing. Sorry for the insane delay, I've been too busy.

Jan 31 '22 23:01 hidmic