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: acceleration_limits admittance.damping_ratio admittance.mass admittance.selected_axes admittance.stiffness angle_wraparound chainable_command_interfaces command_interfaces control.frame.external control.frame.id dof_names elbow_joint.rz.limit elbow_joint.rz.weight elbow_joint.x.limit elbow_joint.x.weight elbow_joint.y.limit elbow_joint.y.weight enable_parameter_update_without_reactivation fixed_array fixed_string fixed_string_array fixed_string_array_no_default 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 gains.rz.k gains.x.k gains.y.k gravity_compensation.CoG.force gravity_compensation.CoG.pos gravity_compensation.frame.external gravity_compensation.frame.id gt_fifteen gt_fifteen_lt_eq_twenty gt_fifteen_lt_twenty hover_override interpolation_mode joints kinematics.alpha kinematics.base kinematics.group_name kinematics.plugin_name kinematics.plugin_package kinematics.tip lt_eq_fifteen nested_dynamic.elbow_joint.rz.elbow_joint.rz.nested_deep nested_dynamic.elbow_joint.rz.elbow_joint.x.nested_deep nested_dynamic.elbow_joint.rz.elbow_joint.y.nested_deep nested_dynamic.elbow_joint.rz.nested nested_dynamic.elbow_joint.rz.shoulder_lift_joint.rz.nested_deep nested_dynamic.elbow_joint.rz.shoulder_lift_joint.x.nested_deep nested_dynamic.elbow_joint.rz.shoulder_lift_joint.y.nested_deep nested_dynamic.elbow_joint.rz.shoulder_pan_joint.rz.nested_deep nested_dynamic.elbow_joint.rz.shoulder_pan_joint.x.nested_deep nested_dynamic.elbow_joint.rz.shoulder_pan_joint.y.nested_deep nested_dynamic.elbow_joint.rz.wrist_1_joint.rz.nested_deep nested_dynamic.elbow_joint.rz.wrist_1_joint.x.nested_deep nested_dynamic.elbow_joint.rz.wrist_1_joint.y.nested_deep nested_dynamic.elbow_joint.rz.wrist_2_joint.rz.nested_deep nested_dynamic.elbow_joint.rz.wrist_2_joint.x.nested_deep nested_dynamic.elbow_joint.rz.wrist_2_joint.y.nested_deep nested_dynamic.elbow_joint.rz.wrist_3_joint.rz.nested_deep nested_dynamic.elbow_joint.rz.wrist_3_joint.x.nested_deep

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Changelog for package generate_parameter_library_example

1.0.0 (2026-04-22)

• Implement string_array_fixed_XX (#341)
• Fix conflicting validators (#336)
• Contributors: Christoph Fröhlich

0.8.0 (2026-03-22)

• Fix nested mapped parameters map (#306)
• Use libexpected-dev instead of tl_expected (#322)
• Branch for rolling, add additional CI jobs and tests (#314)
• Contributors: Christoph Fröhlich, Nick Laurenson

0.7.0 (2026-02-22)

• Added missing gmock/gtest dependency (#304)
• Move linters to pre-commit (#298)
• Contributors: Alejandro Hernández Cordero, Christoph Fröhlich

0.6.0 (2025-12-06)

• Update maintainers for GBP release team (#282)
• Contributors: Nathan Brooks

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

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