Allow different namespaces for custom parameters

[amalnanavati]

Description

This PR builds off of #146 by allowing multiple namespaces of parameter overrides. Specifically, custom parameters now work as follows:

• default parameters are (still) read-only.
• There is a parameter, custom_namespaces (list of strings) that defines custom namespaces.
• Within each namespace, you can override any tree_kwarg from default, e.g., MoveToMouth.tree_kwargs.plan_distance_from_mouth. (Note: this PR removes the need to list our all overridden parameters; if a parameter has a value, it treats it as an override.)
• There is a parameter namespace_to_use (default: ”default”) that specifies which namespace to use.
• namespace_to_use and all tree_kwargs are the only re-writeable parameters. If namespace_to_use is set to a namespace that does not currently exist, it will create it and declare all tree_kwarg parameters within it.

Testing

• [x] Testing in isolation:
  • [x] Launch the code: python3 src/ada_feeding/start.py --sim mock
  • [x] Check that the feeding screen launched without error.
  • [x] ros2 param list | grep tree_kwargs, verify that the only namespace for tree_kwargs is default
  • [x] Add a new namespace, ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'namespace_to_use', value: {type: 4, string_value: 'test_namespace'}}]}"
  • [x] ros2 param list | grep tree_kwargs, verify the new namespace is there
  • [x] In the share directory (within the install folder of the workspace) open ada_feeding_action_servers_custom.yaml, verify custom_namespaces is now there with the value of the new namespace, and the namespace has no parameters.
  • [x] Get the value of a parameter in the new namespace and verify it is unset: ros2 service call /ada_feeding_action_servers/get_parameters rcl_interfaces/srv/GetParameters "{names: ['test_namespace.MoveAbovePlate.tree_kwargs.f_mag']}"
  • [x] Get the corresponding value in the default namespace and verify it is set: ros2 service call /ada_feeding_action_servers/get_parameters rcl_interfaces/srv/GetParameters "{names: ['default.MoveAbovePlate.tree_kwargs.f_mag']}"
  • [x] Attempt to change the default parameter, and verify it fails: ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'default.MoveAbovePlate.tree_kwargs.f_mag', value: {type: 3, double_value: 1.0}}]}"
  • [x] Attempt to change the test_namespace parameter to an incorrect type, and verify that it failes: e.g., ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'test_namespace.MoveAbovePlate.tree_kwargs.f_mag', value: {type: 4, string_value: 'ASDFGHJKL'}}]}"
    • [x] Verify that in the share directory (within the install folder of the workspace), ada_feeding_action_servers_custom.yaml is unchanged.
  • [x] Attempt to change the test_namespace parameter to a correct type, and verify that it works: e.g., ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'test_namespace.MoveAbovePlate.tree_kwargs.f_mag', value: {type: 3, double_value: 1.0}}]}"
    • [x] Verify that in the share directory (within the install folder of the workspace), ada_feeding_action_servers_custom.yaml has changed to reflect the overridden parameter.
    • [x] Verify that in the output of the node, you see some info logs indicating that the MoveAbovePlate tree was re-created.
  • [x] Get the value of the param in default and verify that it is unchanged (should be 4.0): e.g., ros2 service call /ada_feeding_action_servers/get_parameters rcl_interfaces/srv/GetParameters "{names: ['default.MoveAbovePlate.tree_kwargs.f_mag']}"
  • [x] Get the test_namespace value of the param and verify it is set correctly (should be 1.0): e.g., ros2 service call /ada_feeding_action_servers/get_parameters rcl_interfaces/srv/GetParameters "{names: ['test_namespace.MoveAbovePlate.tree_kwargs.f_mag']}"
  • [x] Try to set a parameter in a non-existant namespace verify it failes, ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'test2_namespace.MoveAbovePlate.tree_kwargs.f_mag', value: {type: 3, double_value: 1.0}}]}"
  • [x] Add a second namespace: ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'namespace_to_use', value: {type: 4, string_value: 'test2_namespace'}}]}", verify that the YAML file updates as expected
  • [x] Change the parameter, ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'test2_namespace.MoveAbovePlate.tree_kwargs.f_mag', value: {type: 3, double_value: 1.0}}]}", verify it is updated correctly in the yaml file.
  • [x] Change the namespace back to default, verify it works and the yaml file updates as expected, and that logs indicate that all trees were re-created: ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'namespace_to_use', value: {type: 4, string_value: 'default'}}]}",
• [x] Testing with MoveIt:
  • [x] Remove workspace walls as necessary in RVIZ to be able to see the robot arm.
  • [x] Set the distance to mouth in test_namespace to 5cm: ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'test_namespace.MoveToMouth.tree_kwargs.plan_distance_from_mouth', value: {type: 8, double_array_value: [0.05, 0.0, -0.01]}}]}"
  • [x] Set the distance to mouth in test1_namespace to 10cm: ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'test2_namespace.MoveToMouth.tree_kwargs.plan_distance_from_mouth', value: {type: 8, double_array_value: [0.1, 0.0, -0.01]}}]}"
  • [x] Do MoveToStaging: ros2 action send_goal /MoveToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] Do MoveToMouth, verify it is 2.5cm from the mouth: ros2 action send_goal /MoveToMouth ada_feeding_msgs/action/MoveToMouth "{}" --feedback
  • [x] Change the namespace to test_namespace: ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'namespace_to_use', value: {type: 4, string_value: 'test_namespace'}}]}"
  • [x] Do MoveFromMouth: ros2 action send_goal /MoveFromMouth ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] Do MoveToMouth, verify it is 5cm from the mouth
  • [x] Terminate and then re-launch ada_feeding code
  • [x] Do MoveFromMouth followed by MoveToMouth, verify it is 5cm from the mouth
  • [x] Change the namespace to test2_namespace: ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'namespace_to_use', value: {type: 4, string_value: 'test2_namespace'}}]}"
  • [x] Do MoveFromMouth followed by MoveToMouth, verify it is 10cm from the mouth
  • [x] Set the distance to mouth in test2_namespace to 20cm: ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'test2_namespace.MoveToMouth.tree_kwargs.plan_distance_from_mouth', value: {type: 8, double_array_value: [0.2, 0.0, -0.01]}}]}"
  • [x] Do MoveFromMouth followed by MoveToMouth, verify it is 20cm from the mouth
  • [x] Change the namespace back to default: ros2 service call /ada_feeding_action_servers/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: 'namespace_to_use', value: {type: 4, string_value: 'default'}}]}"
  • [x] Do MoveFromMouth followed by MoveToMouth, verify it is 2.5cm from the mouth

Before opening a pull request

• [x] Format your code using black formatter python3 -m black .
• [x] Run your code through pylint and address all warnings/errors. The only warnings that are acceptable to not address is TODOs that should be addressed in a future PR. From the top-level ada_feeding directory, run: pylint --recursive=y --rcfile=.pylintrc ..

Before Merging

• [ ] Squash & Merge