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 Python node

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

You should see an output like this: [INFO] [1656018676.015816509] [admittance_controller]: Initial control frame parameter 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

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Changelog for package generate_parameter_module_example

0.7.2 (2026-04-22)

• Warn on conflicting validators (#344)
• Implement string_array_fixed_XX (#341)
• Fix rst syntax parsing in parameter description (backport #338)
• Contributors: Christoph Fröhlich, Mat198

0.7.1 (2026-03-22)

• Fix nested mappings double dot bug and add tests (backport #327 #329) (#331) Co-authored-by: Mat198 <<44040676+Mat198@users.noreply.github.com>> Co-authored-by: Nathan <<50861188+natrad100@users.noreply.github.com>>
• Fix nested mapped parameters map (backport #306)
• 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 pre-commit hooks (#288)
• fix setuptools deprecation (#272)
• Update maintainers for GBP release team (#282)
• Contributors: Christoph Fröhlich, Nathan Brooks, mosfet80

0.5.0 (2025-06-12)

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

0.4.0 (2025-01-13)

• Unit test friendly folder structure for Python examples (#237)
• Fix flake8 error in publisher example (#229)
• Contributors: Sebastian Castro

0.3.9 (2024-10-27)

• Add "additional_constraints" support (#221)
• Drop yaml brackets for consistency and readability (#203)
• Contributors: David Revay, 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)

• Fix rolling CI (#162)
• Split example/README.md into C++ and Python version; updated content (#138)
• Contributors: Paul Gesel, chriseichmann

0.3.6 (2023-07-31)

• Prevent module import when running [setup.py clean]{.title-ref} (#137)
• Contributors: Paul Gesel

0.3.5 (2023-07-28)

• add dependency to python example package (#136)
• Contributors: Paul Gesel

0.3.4 (2023-07-24)

• Fix Python install (#122)
• Add Python support for generate_parameter_library (#110)

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