Add new Parameters interface ROS 2 service definitions

Author: jlblancoc

mola_msgs/CMakeLists.txt

@@ -16,10 +16,12 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(geometry_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  "srv/RelocalizeFromGNSS.srv"
-  "srv/RelocalizeNearPose.srv"
   "srv/MapLoad.srv"
   "srv/MapSave.srv"
+  "srv/MolaRuntimeParamGet.srv"
+  "srv/MolaRuntimeParamSet.srv"
+  "srv/RelocalizeFromGNSS.srv"
+  "srv/RelocalizeNearPose.srv"
   DEPENDENCIES
   std_msgs
   geometry_msgs

mola_msgs/srv/MolaRuntimeParamGet.srv

@@ -0,0 +1,14 @@
+# This service requests all known runtime configurable parameters of running mola::ExecutableBase modules.
+
+# Request.
+# No data needed.
+---
+# Result: a multiline string in YAML format with all parameters, in this format:
+# ---
+# module1:
+#   var: value
+# module2:
+#   var: value
+# ...
+# ---
+string parameters

mola_msgs/srv/MolaRuntimeParamSet.srv

@@ -0,0 +1,16 @@
+# This service requests changing one or more runtime configurable parameters of running mola::ExecutableBase modules.
+
+# Request: a multiline string in YAML format with all parameters that need to be changed, in this format:
+# ---
+# module1:
+#   var: value
+# module2:
+#   var: value
+# ...
+# ---
+string parameters
+---
+# Result. False if there was some problem changing the parameters.
+bool success
+# In case of no success, here is a human-readable error reason.
+string error_message