feat: Add user callback python (#254)

Author: YannickdeHoop

example_cmake_python/cmake_generate_parameter_module_example/minimal_publisher.py

@@ -42,6 +42,7 @@ def __init__(self):
 
         self.param_listener = admittance_controller.ParamListener(self)
         self.params = self.param_listener.get_params()
+        self.param_listener.set_user_callback(self.reconfigure_callback)
         self.get_logger().info(
             "Initial control frame parameter is: '%s'" % self.params.control.frame.id
         )
@@ -64,6 +65,15 @@ def timer_callback(self):
             for d in self.params.fixed_array:
                 self.get_logger().info("value: '%s'" % str(d))
 
+    def reconfigure_callback(self, parameters):
+        self.get_logger().info('Reconfigure callback fired!')
+        self.get_logger().info(
+            "New control frame parameter is: '%s'" % parameters.control.frame.id
+        )
+        self.get_logger().info("fixed string is: '%s'" % parameters.fixed_string)
+        for d in parameters.fixed_array:
+            self.get_logger().info("value: '%s'" % str(d))
+
 
 def main(args=None):
     rclpy.init(args=args)

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/parameter_library_header

@@ -41,6 +41,7 @@ stamp_ = Time()
             self.declare_params()
 
             self.node_.add_on_set_parameters_callback(self.update)
+            self.user_callback = None
             self.clock_ = Clock()
 
         def get_params(self):
@@ -79,6 +80,12 @@ stamp_ = Time()
             params_to_set = self.unpack_parameter_dict('', param_dict)
             self.update(params_to_set)
 
+        def set_user_callback(self, callback):
+            self.user_callback = callback
+
+        def clear_user_callback(self):
+            self.user_callback = None
+
         def refresh_dynamic_parameters(self):
             updated_params = self.get_params()
             # TODO remove any destroyed dynamic parameters
@@ -109,6 +116,8 @@ for param in parameters:
 
             updated_params.stamp_ = self.clock_.now()
             self.update_internal_params(updated_params)
+            if self.user_callback:
+                self.user_callback(self.get_params())
             return SetParametersResult(successful=True)
 
         def update_internal_params(self, updated_params):