Adding dynamic parameter event namespace support and duplicate parameters#298
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bpwilcox merged 6 commits intoros-navigation:masterfrom Nov 12, 2018
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November 7, 2018 16:47
…s, finish example code, improvements for dynamic params client
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mjeronimo
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Nov 9, 2018
ghost
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Nov 10, 2018
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Mar 7, 2022
* add parameter type * remove import
mini-1235
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Feb 5, 2025
* added new condition * added path expired timer to plugin list * completed docs * code review * naming fix, migration fix * rename This pr * changed replanning time to 10 * starting switch * renaming * renamming * recovery to behavior * add to migration guide * fixed * renamming * added file changes * code review * Update concepts/index.rst Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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Basic Info
Description of contribution in a few bullet points
I have addressed some of the issues brought forth it issue #286 regarding how to deal with namespaces and duplicate parameters. Now, parameters are added via node, where internally the DynamicParameterClient will initialize the cached parameter map with the current value off the remote node and manually create an event subscriber to the topic for parameter events of each unique namespace . This PR will allow for duplicate parameter names across unique namespaces. When a parameter is added/registered with the client, an error will be thrown if the parameter name is not unique within its namespace (a check is also made across all available nodes, even outside those added to the client). The rationale here is that we don't want another node's parameters to silently pass through the callback undetected, giving unexpected or dangerous behavior.
Some other modifications were also made to improve the overall interface.
Future work that may be required in bullet points