Remove ROS 2 topic parameters in favor of standard remapping

[sgrizan-nv]

Remove redundant topic parameters from the ROS 2 publisher node and its documentation, relying on standard ROS 2 topic remapping

Summary by CodeRabbit

• Documentation

  • Renamed and expanded "Overriding parameters" to cover ROS 2 parameter overrides and topic remapping, updated command example, trimmed listed configurable parameters to non-topic settings, and added a list of remappable topics plus instructions to inspect active remaps.

• Changes

  • Teleop publisher no longer exposes topic-name parameters at runtime; it uses fixed default topic names that can be redirected via ROS 2 remapping.

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

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📥 Commits

Reviewing files that changed from the base of the PR and between a0fb72c and db70def.

📒 Files selected for processing (2)

• examples/teleop_ros2/README.md
• examples/teleop_ros2/python/teleop_ros2_publisher.py

---

📝 Walkthrough

Walkthrough

The PR removes runtime ROS 2 parameters for teleop topic names in the teleop_ros2_publisher node, hardcodes those topic names, and updates README to remove topic parameters, add remapping guidance, and show example --ros-args -r ... usage.

Changes

Cohort / File(s)	Summary
Publisher implementation examples/teleop_ros2/python/teleop_ros2_publisher.py	Removed declarations and reads of topic-name parameters and their private members; publishers now use fixed hard-coded topics (xr_teleop/hand, xr_teleop/ee_poses, xr_teleop/root_twist, xr_teleop/root_pose, xr_teleop/controller_data, xr_teleop/full_body, xr_teleop/finger_joints). Docstring updated to state topics are remappable via ROS 2 remapping.
Documentation examples/teleop_ros2/README.md	Renamed/expanded "Overriding parameters" to "Overriding parameters and remapping topics"; examples show --ros-args -p ... and --ros-args -r ... usage; removed topic-related parameters from "Available parameters" and added an "Available topics for remapping" list and ros2 node info /teleop_ros2_publisher guidance.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~20 minutes

Poem

🐰
I nudged the params into their nest,
Fixed the paths, now snug and blessed.
Remap a route, give commands a wink—
The publisher hops, faster than you'd think. 🥕

🚥 Pre-merge checks | ✅ 2 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 0.00% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (2 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The pull request title accurately summarizes the main change: removing ROS 2 topic parameters in favor of standard remapping, which is the core objective across both modified files.

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✨ Finishing Touches

📝 Generate docstrings

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch sgrizan/branch2

---

_{Comment @coderabbitai help to get the list of available commands and usage tips.}

[coderabbitai]

Actionable comments posted: 1

Caution

Some comments are outside the diff and can’t be posted inline due to platform limitations.

⚠️ Outside diff range comments (1)

examples/teleop_ros2/README.md (1)

75-88: ⚠️ Potential issue | 🟡 Minor

Document topic remapping explicitly in this section.

After removing topic parameters, users need a concrete replacement workflow here (e.g., --ros-args -r old:=new). Line 88 updates the parameter list, but the section does not yet show the new remapping path.

📘 Proposed README addition

 ### Overriding parameters
 
 It's possible to set ROS 2 parameters from the command line when running the container. Append `--ros-args -p param_name:=value` after the image name:
@@
 Available parameters: `rate_hz`, `mode`, `world_frame`, `right_wrist_frame`, `left_wrist_frame`. Use `ros2 param list /teleop_ros2_publisher` and `ros2 param describe /teleop_ros2_publisher <param>` (with the node running) for the full set.
+
+Topic names are no longer ROS parameters. Use standard ROS 2 remapping instead, for example:
+
+```bash
+teleop_ros2_ref --ros-args \
+  -r xr_teleop/hand:=my_robot/hand \
+  -r xr_teleop/ee_poses:=my_robot/ee_poses
+```

🤖 Prompt for AI Agents

Verify each finding against the current code and only fix it if needed.

In `@examples/teleop_ros2/README.md` around lines 75 - 88, The README's
"Overriding parameters" section mentions runtime parameter overrides but no
longer documents how to remap topics after topic parameters were removed; update
the paragraph for the container run example (referencing the teleop_ros2_ref
invocation) to include a concrete topic-remapping example using ROS 2 remap
arguments (e.g., use --ros-args -r old_topic:=new_topic) and show remapping of
xr_teleop/hand and xr_teleop/ee_poses to user topics (use the -r flag twice),
and also note users can inspect active remaps with ros2 node info
/teleop_ros2_publisher or similar if needed.

🤖 Prompt for all review comments with AI agents

Verify each finding against the current code and only fix it if needed.

Inline comments:
In `@examples/teleop_ros2/python/teleop_ros2_publisher.py`:
- Around line 451-467: Update the stale wording in the module/class docstrings
and inline comments in teleop_ros2_publisher.py (any text referring to
"configurable via parameters" for topics like self._pub_hand, self._pub_ee_pose,
self._pub_root_twist, self._pub_root_pose, self._pub_controller,
self._pub_full_body, self._pub_finger_joints) to say "remappable via ROS 2
remapping" instead; search the file for phrases mentioning "configurable via
parameters" or "configurable via parameter" and replace them with "remappable
via ROS 2 remapping" or equivalent concise wording so the documentation reflects
the removed parameter-based topic configuration.

---

Outside diff comments:
In `@examples/teleop_ros2/README.md`:
- Around line 75-88: The README's "Overriding parameters" section mentions
runtime parameter overrides but no longer documents how to remap topics after
topic parameters were removed; update the paragraph for the container run
example (referencing the teleop_ros2_ref invocation) to include a concrete
topic-remapping example using ROS 2 remap arguments (e.g., use --ros-args -r
old_topic:=new_topic) and show remapping of xr_teleop/hand and
xr_teleop/ee_poses to user topics (use the -r flag twice), and also note users
can inspect active remaps with ros2 node info /teleop_ros2_publisher or similar
if needed.

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

---

ℹ️ Review info

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Configuration used: Path: .coderabbit.yaml

Review profile: ASSERTIVE

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📥 Commits

Reviewing files that changed from the base of the PR and between 8a61d96 and 7f9927c.

📒 Files selected for processing (2)

• examples/teleop_ros2/README.md
• examples/teleop_ros2/python/teleop_ros2_publisher.py