0.2.0 - Params

Changelog

[Unreleased]

Added

• Parameters API (Parity with rclcpp/rclpy)
  • params.Manager with support for:
    • Declare, Get, Set, Undeclare, Describe
    • Per-parameter Descriptor constraints (bounds, read-only, allowed values)
    • OnSet callback for cross-field validation
  • Emits /parameter_events using rcl_interfaces types.
  • Integrated /use_sim_time hook to coordinate with ROS time/clock.
  • YAML preload (params.LoadYAML) for node-specific and global parameter files.
  • Full CLI interop: ros2 param get/set/list/describe/undeclare works against rclgo nodes.
• QoS Policy surface parity with rclcpp
  • Reliability, Durability, History, Depth, Liveliness, Deadline, Lifespan.
  • Default profile helpers (NewDefaultQosProfile, NewDefaultServiceQosProfile).

Changed

• param_demo example updated:
  • Demonstrates declaring parameters, handling updates via OnSet, publishing events.
  • Optionally loads defaults from YAML when PARAM_YAML is set.

Roadmap

• Marked Parameters as done in ROADMAP.md.
• QoS policies at feature parity (validation + event callbacks still pending).
• Next milestones: Actions, Lifecycle Nodes, ROS Time, Executors.

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[0.0.1] – 2025-08-XX

Initial public snapshot: package skeleton, message generation, minimal pub/sub.