Tyler Weaver

Could we make read-only parameters const? We should think through the implications of this for how the user would use it.

A linter should be generated that can be used with ctest that checks if a yaml config conforms to a generated parameter library.

Recreating structured yaml files from nodes/configs including documentation from description

Register async callback for updates

1

Provide an interface for registering async callbacks for parameters being updated. Be careful that the mutex is not locked when these functions are called so if they call `get()` it...

Initialize Member Variables

6

https://github.com/cpp-best-practices/cppbestpractices/blob/master/03-Style.md#initialize-member-variables

Create custom robot config for testing to eliminate circular dependency on moveit_resources

3

## The problem We use robot configs from [moveit_resources](https://github.com/ros-planning/moveit_resources/tree/ros2) in our [testing](https://github.com/ros-planning/moveit2/blob/2105b91f89ea213a0fc3fc6b3735d296b5d57c3f/moveit_core/package.xml#L65). This may seem fine except if a user tries to launch moveit using the launch files in moveit_resources...

Report code coverage correctly to SonarCloud

4

We are currently running SonarCloud linting when there are pushes to this repo. We tried setting up reporting the code coverage details to SonarCloud but could not get it working...

Use rclcpp::Duration instead of double in RobotTrajectory

2

Strong types for time should be used where possible.

As we are now using RSL can we remove all places where we are depending on random_numbers and remove it as a dependency?