Document node parameters and switch to config-file based launch - #5
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- Convert all four launch files to load parameters from a YAML configuration file (config_file launch argument). - Add config/config.yaml with one block per node, keyed by the effective ROS node name: sas_datalogger (server, no params), sas_datalogger_gui_node (whitelist), sas_datalogger_client_example (C++ client, no params), sas_datalogger_client_example_py_rclpy (execution_times). - Fix a latent node-name collision: the server and GUI launches both used name='sas_datalogger'; the GUI now uses its own name 'sas_datalogger_gui_node'. The server keeps the name 'sas_datalogger'. - Add config/gui_test.yaml for the GUI docker scenario (whitelist + execution_times), and switch docker/compose_gui.yml to config_file. - Remove the stray execution_times:=50000 from the C++ client launch in docker/test.sh (the C++ client declares no such parameter). - Add a 'ROS 2 Nodes & Parameters' README section and install the config directory into the package share dir. Co-authored-by: openhands <openhands@all-hands.dev>
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Summary
Applies the standard "ROS 2 Nodes & Parameters" README section and converts the launch files to the config-file-based pattern used by
sas_robot_driver_ur.Changes
config_filelaunch argument.config/config.yamlwith one block per node, keyed by the effective ROS node name:sas_datalogger(server — no parameters)sas_datalogger_gui_node(whitelist)sas_datalogger_client_example(C++ client — no parameters)sas_datalogger_client_example_py_rclpy(execution_times)name='sas_datalogger', so running them together would collide and no single config file could key both. The GUI now uses its own distinct namesas_datalogger_gui_node; the server keepssas_datalogger.name(avoiding an ambiguous__noderemap);execution_timesis configured through the config block keyed by the rclpy node's fixed code name.config/gui_test.yamlfor the GUI docker scenario and switchesdocker/compose_gui.ymltoconfig_file:=....execution_times:=50000from the C++ client launch indocker/test.sh(the C++ client declares no such parameter; the value was previously ignored).ROS 2 Nodes & ParametersREADME section and installs theconfig/directory into the package share directory.Verification
py_compilecleanly; both YAML configs parse.nameremaps__node, which is what rclpy/rclcpp use to select the config block).whitelist:=/execution_times:=launch arguments remain.Note: this PR was created by an AI agent (OpenHands) on behalf of the user.