parameter-handling

What problem does it solve?

ROS 2 parameter handling is error-prone without a clear, reusable pattern. This skill provides structured guidance for declaring, configuring, and monitoring parameters across Python and C++ nodes, including descriptors, range validation, dynamic reconfiguration, and YAML loading.

Core Features & Use Cases

• Parameter Declaration (Python/C++): declare_parameter, get_parameter, and runtime updates with proper descriptors and ranges.
• Dynamic Parameter Callback: attach a on-set-parameters callback with validation to enforce constraints at runtime.
• YAML Loading & Application: load initial parameter values from ros__parameters blocks in YAML files and apply them at startup.
• Cross-Node Monitoring: use ParameterEventHandler to observe parameter changes on other nodes and react accordingly.
• Runtime Interaction: inspect, set, and dump parameters at runtime using ros2 param commands to support debugging and configuration.

Quick Start

Create a ROS 2 node, declare parameters, and attach a runtime parameter callback to enable dynamic reconfiguration.