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Macro for deriving ROS parameters code #65

Merged
merged 2 commits into from
Sep 22, 2023
Merged

Macro for deriving ROS parameters code #65

merged 2 commits into from
Sep 22, 2023

Commits on Sep 18, 2023

  1. Implement derive(RosParams) macro and surrounding infrastructure 

    With this, declaring and handling node parameters becomes easy. One
just needs to define a structure(s) containing the parameters such as:

    #[derive(RosParams, Default, Debug)]
    struct Params {
        par1: f64,
        par2: i32,
        str: String,
    }

And then instantiate and register it with:

    let params = Arc::new(Mutex::new(Params::default()));
    let (paramater_handler, _) = node.make_derived_parameter_handler(params.clone())?;

This will add three parameters `par1`, `par2` and `str` to the node.
Their type will be `Double`, `Integer` and `String` respectively.
Other Rust types such as `f32` or differently sized integers, e.g.
`u16` are also supported and registered as appropriate ROS parameter
types.

After spawning the handler, e.g.:

    spawner.spawn_local(paramater_handler)?;

changing a parameter with external ROS tools (e.g. `ros2 param set`)
will result in changing the appropriate field in the `Params`
structure. Type conversion is handled automatically. For example,
setting an `i8` field (represented as `Integer` ROS parameter) will
succeed if the value is in range -128 to 127 and fail with appropriate
error message for other values.

The other direction also works: Changing a value in the `Params`
structure will be visible outside of the Node via the `get_parameters`
service.

It is also possible to organize the parameters as several nested
structures with parameters. Then, parameter names of different nesting
levels will be separated by `.`. For example `nested.par3`. See the
full example in `parameters_derive.rs`.
    @wentasah
    wentasah committed Sep 18, 2023
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  2. doc: Parameter handling is no longer "rudimentary"

    @wentasah
    wentasah committed Sep 18, 2023
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