Using parameters defined in another package

This package is a minimal example demonstrating how the parameters defined in generate_parameter_library/example can be used in a different package (i.e. the current one : generate_parameter_library/example_external).

In particular, check the CMakeLists.txt file and the #include instructions in the source files.

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_external test_node --ros-args --params-file src/generate_parameter_library/example_external/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

File truncated at 100 lines see the full file

Changelog for package generate_parameter_library_example_external

0.7.2 (2026-04-22)

• Implement string_array_fixed_XX (#341)
• Contributors: Christoph Fröhlich

0.7.1 (2026-03-22)

• Fix pre-commit on humble (#324)
• Branch for rolling, add additional CI jobs and tests (backport #314)
• Contributors: Christoph Froehlich, Christoph Fröhlich

0.7.0 (2026-02-22)

• Move linters to pre-commit (#298)
• Contributors: Christoph Fröhlich

0.6.0 (2025-12-06)

• Update linters for generate_parameter_library_external (#270)
• Update maintainers for GBP release team (#282)
• Contributors: Nathan Brooks, Plumezz

0.5.0 (2025-06-12)

• Add some new maintainers for ROS releases (#263)
• Contributors: Nathan Brooks

0.4.0 (2025-01-13)

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