Example:

Build the node

 mkdir colcon_ws
 mkdir colcon_ws/src
 cd colcon_ws/src
 git clone https://github.com/picknikrobotics/generate_parameter_library.git
 cd ..
 colcon build

Run the C++ node

source install/setup.bash
ros2 run generate_parameter_library_example test_node --ros-args --params-file src/generate_parameter_library/example/config/implementation.yaml

You should see an output like this: [INFO] [1656018676.015816509] [admittance_controller]: Control frame is: 'ee_link'

ROS 2 CLI

Run the following:

ros2 param list

You should see:

/admittance_controller:
  admittance.damping_ratio
  admittance.mass
  admittance.selected_axes
  admittance.stiffness
  chainable_command_interfaces
  command_interfaces
  control.frame.external
  control.frame.id
  enable_parameter_update_without_reactivation
  fixed_array
  fixed_string
  fixed_string_no_default
  fixed_world_frame.frame.external
  fixed_world_frame.frame.id
  ft_sensor.filter_coefficient
  ft_sensor.frame.external
  ft_sensor.frame.id
  ft_sensor.name
  gravity_compensation.CoG.force
  gravity_compensation.CoG.pos
  gravity_compensation.frame.external
  gravity_compensation.frame.id
  interpolation_mode
  joints
  kinematics.alpha
  kinematics.base
  kinematics.group_name
  kinematics.plugin_name
  kinematics.plugin_package
  kinematics.tip
  one_number
  pid.elbow_joint.d
  pid.elbow_joint.i
  pid.elbow_joint.p
  pid.rate
  pid.shoulder_lift_joint.d
  pid.shoulder_lift_joint.i
  pid.shoulder_lift_joint.p
  pid.shoulder_pan_joint.d
  pid.shoulder_pan_joint.i
  pid.shoulder_pan_joint.p
  pid.wrist_1_joint.d
  pid.wrist_1_joint.i
  pid.wrist_1_joint.p
  pid.wrist_2_joint.d
  pid.wrist_2_joint.i
  pid.wrist_2_joint.p
  pid.wrist_3_joint.d
  pid.wrist_3_joint.i
  pid.wrist_3_joint.p
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  scientific_notation_num
  state_interfaces
  three_numbers
  three_numbers_of_five
  use_feedforward_commanded_input
  use_sim_time
  

All parameter are automatically declared and callbacks are setup by default. You can set a parameter by typing:

ros2 param set /admittance_controller control.frame.id new_frame

You should see:

File truncated at 100 lines see the full file

Changelog for package generate_parameter_library_example

0.5.0 (2025-06-12)

• Add [try_update_params]{.title-ref} method (#260)
• Add user callback (#250)
• Contributors: Nathan Brooks, Sai Kishor Kothakota, Yannick de Hoop

0.4.0 (2025-01-13)

• Change header install path (#213)
• Contributors: Auguste Bourgois

0.3.9 (2024-10-27)

• Add "additional_constraints" support (#221)
• Use int64_t instead of int for parameter integer range, fixes #199 (#214)
• Add Non-Blocking try_get_params Function for Real-Time Control Systems (#205)
• Drop yaml brackets for consistency and readability (#203)
• Contributors: Auguste Bourgois, David Revay, KentaKato, Tim Clephas

0.3.8 (2024-03-27)

• Restore functionality for mapped params with no struct name ([#185 <https://github.com/PickNikRobotics/generate_parameter_library/issues/185>_]{.title-ref})
• Fix newline issue (#176)
  • fix new line rendering for Python
• Support nested mapped parameters (#166)
• Contributors: Paul Gesel, Sebastian Castro

0.3.7 (2024-01-12)

• Split example/README.md into C++ and Python version; updated content (#138)
• Contributors: chriseichmann

0.3.6 (2023-07-31)

0.3.5 (2023-07-28)

• Remove documentation of deprecated validator functions (#135)
• Contributors: Tyler Weaver

0.3.4 (2023-07-24)

• Add Python support for generate_parameter_library (#110) Co-authored-by: Tyler Weaver <<tyler@picknik.ai>>
• Contributors: Paul Gesel

0.3.3 (2023-04-13)

0.3.2 (2023-04-12)

• Populate Range Constraints in Parameter Descriptors from Validation Functions (#103)
• Mark deprecated rsl method and propose alternative in the docs. (#102)
• Contributors: Chance Cardona, Dr. Denis

0.3.1 (2023-02-01)

• Make it easy for users to override (#92)
• Contributors: Tyler Weaver

0.3.0 (2022-11-15)

• Migrate from parameter_traits to RSL (take 2) (#91)
• Contributors: Tyler Weaver

0.2.8 (2022-11-03)

0.2.7 (2022-10-28)

• Standardize cmake (#79)
• Contributors: Tyler Weaver

0.2.6 (2022-09-28)

0.2.5 (2022-09-20)

• 🈵 Support use of '_' in mapped parameters. (#68)
• Component node example

File truncated at 100 lines see the full file