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Several improvements around parameters #663

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Several improvements around parameters #663

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7c9cac1
fix(parameters): validate values against the declared Rust type
azerupi Jul 25, 2026
3f27dcc
feat(parameters): derive descriptor constraints from the parameter type
azerupi Jul 25, 2026
4f098d4
feat(parameters): support common Rust types as parameters
azerupi Jul 25, 2026
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6 changes: 6 additions & 0 deletions rclrs/src/node.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -1420,6 +1420,12 @@ impl NodeState {
self.parameter.declare(name.into())
}

/// Access to this node's parameter interface, for the parameter implementation itself.
#[cfg(test)]
pub(crate) fn parameter_interface(&self) -> &ParameterInterface {
&self.parameter
}

/// Enables usage of undeclared parameters for this node.
///
/// Returns a [`Parameters`] struct that can be used to get and set all parameters.
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