WIP Add Parameter Handler to simplify management of params in filters and controllers and simply enable dynamic reconfigure

[destogl]

• Add Parameter Handler class.

• Add support for all available parameter types.

• check GravityCompensationParameters for usage example

[bmagyar]

FYI @tylerjw

[destogl]

Hi @tylerjw,

Thanks for the review.

My problem with this as a generic interface is it uses the ros2 interfaces directly for declaring and getting parameters. I think this would be much more useful (and future prof) if it didn't abstract away the interface for declaring (and getting) parameters.

This is a very valid comment. You are right! I was also disturbed with something, but in my “bubble” couldn't see with what.

I don't think any pattern or tool for using parameters in ROS2 should abstract away the interface in ROS2 itself and should instead just provide structure for the various steps a user needs to implement (declare, get, dynamic update) in a straightforward way.

I will think about this over the weekend and check how this can be achieved and simplified.

[destogl]

Note to myself:

check also this out https://github.com/ros2/rclcpp/pull/1796 (thanks @tylerjw)

[destogl]

This is obsolete now! Use "generate_parameters_library" repository.