Introuduce gen param library.

Author: livanov93

ign_ros2_control/CMakeLists.txt

@@ -23,6 +23,12 @@ find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
+find_package(generate_parameter_library REQUIRED)
+
+generate_parameter_library(ign_ros2_control_parameters
+  src/ign_ros2_control_parameters.yaml
+  include/ign_ros2_control/validate_system_parameters.hpp
+)
 
 if("$ENV{IGNITION_VERSION}" STREQUAL "citadel")
   find_package(ignition-gazebo3 REQUIRED)
@@ -82,9 +88,13 @@ target_link_libraries(ign_hardware_plugins
   ignition-gazebo${IGN_GAZEBO_VER}::core
 )
 
+target_link_libraries(ign_hardware_plugins
+  ign_ros2_control_parameters
+)
+
 ## Install
-install(TARGETS
-  ign_hardware_plugins
+install(TARGETS ign_hardware_plugins ign_ros2_control_parameters
+  EXPORT export_ign_ros2_control
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -99,12 +109,24 @@ endif()
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME} ign_hardware_plugins)
 
+ament_export_targets(
+  export_ign_ros2_control HAS_LIBRARY_TARGET
+)
 # Install directories
 install(TARGETS ${PROJECT_NAME}-system
   DESTINATION lib
 )
 
 pluginlib_export_plugin_description_file(ign_ros2_control ign_hardware_plugins.xml)
 
+ament_export_dependencies(
+  ament_index_cpp
+  controller_manager
+  hardware_interface
+  pluginlib
+  rclcpp
+  yaml_cpp_vendor
+  rclcpp_lifecycle
+)
 # Setup the project
 ament_package()

ign_ros2_control/include/ign_ros2_control/ign_system.hpp

@@ -25,6 +25,8 @@
 #include "rclcpp_lifecycle/state.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
+#include "ign_ros2_control_parameters.hpp"
+
 namespace ign_ros2_control
 {
 using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
@@ -88,6 +90,14 @@ class IgnitionSystem : public IgnitionSystemInterface
 
   /// \brief Private data class
   std::unique_ptr<IgnitionSystemPrivate> dataPtr;
+
+  rcl_interfaces::msg::SetParametersResult myCallback(const std::vector<rclcpp::Parameter> & parameters);
+    rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr cb_;
+
+    rclcpp::Node::SharedPtr node_;
+
+    std::thread spin_thread_;
+
 };
 
 }  // namespace ign_ros2_control

ign_ros2_control/include/ign_ros2_control/validate_system_parameters.hpp

@@ -0,0 +1,13 @@
+#ifndef IGN_ROS2_CONTROL__VALIDATE_SYSTEM_PARAMETERS_HPP_
+#define IGN_ROS2_CONTROL__VALIDATE_SYSTEM_PARAMETERS_HPP_
+
+#include <string>
+
+#include "parameter_traits/parameter_traits.hpp"
+
+namespace parameter_traits
+{
+
+}  // namespace parameter_traits
+
+#endif  // IGN_ROS2_CONTROL__VALIDATE_SYSTEM_PARAMETERS_HPP_

ign_ros2_control/package.xml

@@ -22,6 +22,7 @@
   <depend>rclcpp_lifecycle</depend>
   <depend>hardware_interface</depend>
   <depend>controller_manager</depend>
+  <depend>generate_parameter_library</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

ign_ros2_control/src/ign_ros2_control_parameters.yaml

@@ -0,0 +1,51 @@
+ignition_system_interface:
+  joints: {
+    type: string_array,
+    default_value: [],
+    description: "Names of joints used by the controller",
+    validation: {
+      unique<>: null,
+    }
+  }
+  gains:
+    __map_joints:
+      p: {
+        type: double,
+        default_value: 0.0,
+        description: "Proportional gain for PID"
+      }
+      i: {
+        type: double,
+        default_value: 0.0,
+        description: "Integral gain for PID"
+      }
+      d: {
+        type: double,
+        default_value: 0.0,
+        description: "Derivative gain for PID"
+      }
+      iMax: {
+        type: double,
+        default_value: 0.0,
+        description: "Integral positive clamp."
+      }
+      iMin: {
+        type: double,
+        default_value: 0.0,
+        description: "Integral negative clamp."
+      }
+      cmdMax: {
+        type: double,
+        default_value: 0.0,
+        description: "Maximum value for the PID command."
+      }
+      cmdMin: {
+        type: double,
+        default_value: 0.0,
+        description: "Maximum value for the PID command."
+      }
+      cmdOffset: {
+        type: double,
+        default_value: 0.0,
+        description: "Offset value for the command which is added to the result of the PID controller."
+      }