ros2 params can't be change from command line

[jnippula]

Navigation related parameters (e.g. control_interface/takeoff_altitude) can't be changed with "ros2 param set" command. The changed value is not taken into use in the ROS node without restarting the appropriate node after the parameter is changed.
One way to change param is to change config file and reboot the drone, but that is not working in the containerized simulation as the file changes does not remain over simulation restart.

It would be useful to make nodes e.g. to listen to parameter changes from /parameter_event topic and change the internal param variables according to the changes.

[jnippula]

This is merged into main branch, but not verified properly yet.

[jnippula]

I tried to verify this. First, now I couldn't find the commit where this was fixed. I couldn't get it working either.

What should be the proper way to set parameter to make it effective in the navigation stack?
I tried "ros2 param set" but it didn't change anything in the behavior. If I changed control_interface/takeoff_altitude, it still used the predefined value from config.

[spurnvoj]

Hi, we have it prepared here tiiuae/control_interface#13. For example, see this commit tiiuae/control_interface@157926d. This PR will contain changes for the odometry feature that is not ready yet. Therefore, the issue is closed for now. If you want, I can cherry pick commits from there and do separate PR with this global parameter function.

[jnippula]

As it is already part of PR under work, my opinion is that it is better to wait until it is ready for merge. Ripping off parts of code may lead more issues and slow down the overall progress.