Issues with parameter services

[des256]

I find that on ROS2 Jazzy, the minimal example parameters.rs doesn't work. I can't access the parameters externally via ros2 param .... We need parameters in our project, so I'm going to debug this, but I'm curious if anyone else has any problems with this.

I'm currently trying:

• The service example in r2r_minimal_node (https://github.com/m-dahl/r2r_minimal_node) works fine for ros2 service .... It doesn't respond to ros2 param ... as expected (it doesn't start a parameter handler). When I add the parameter handler from the parameters example, it still doesn't respond to ros2 param ....

• With debug statements inside the parameter handler code (r2r/src/parameters.rs), it looks like even the requests are not coming in. So it looks like a lower-level communication issue.

I'll keep you posted when I find anything...

[des256]

This does work: ros2 service call /demo/my_node/list_parameters rcl_interfaces/srv/ListParameters

But this doesn't: ros2 param list

[wentasah]

Confirming that ros2 param list doesn't work. I set parameters with rig_reconfigure and Foxglove and these work well. I tried rqt and this also has problems with r2r nodes.

[des256]

On humble it works. But humble requires Ubuntu 22. Contemplating if we can migrate the whole project...

[des256]

Found the problem.

Jazzy defines an additional /set_parameters_atomically service for every node. If that is absent, ros2 param ... doesn't accept the node. I added /set_parameters_atomically to make_parameter_handler_internal on my fork and now the ros2 param ... examples work again.

Opening pull request...

[m-dahl]

Closed by #120, included in 0.9.5 release. Thanks!