Make most parameters read-only

joint_trajectory_controller/src/joint_trajectory_controller.cpp

@@ -885,6 +885,12 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
 controller_interface::CallbackReturn JointTrajectoryController::on_activate(
   const rclcpp_lifecycle::State &)
 {
+  // update dynamic parameters
+  if (param_listener_->is_old(params_))
+  {
+    params_ = param_listener_->get_params();
+  }
+
   // order all joints in the storage
   for (const auto & interface : params_.command_interfaces)
   {
@@ -951,7 +957,7 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
     last_commanded_state_ = state;
   }
 
-  // Should the controller start by holding position after on_configure?
+  // Should the controller start by holding position at the beginning of active state?
   if (params_.start_with_holding)
   {
     add_new_trajectory_msg(set_hold_position());

joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml

@@ -3,6 +3,7 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Names of joints used by the controller",
+    read_only: true,
     validation: {
       unique<>: null,
     }
@@ -11,6 +12,7 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Names of the commanding joints used by the controller",
+    read_only: true,
     validation: {
       unique<>: null,
     }
@@ -19,6 +21,7 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Names of command interfaces to claim",
+    read_only: true,
     validation: {
       unique<>: null,
       subset_of<>: [["position", "velocity", "acceleration", "effort",]],
@@ -29,6 +32,7 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Names of state interfaces to claim",
+    read_only: true,
     validation: {
       unique<>: null,
       subset_of<>: [["position", "velocity", "acceleration",]],
@@ -44,6 +48,7 @@ joint_trajectory_controller:
     type: bool,
     default_value: false,
     description: "Run the controller in open-loop, i.e., read hardware states only when starting controller. This is useful when robot is not exactly following the commanded trajectory.",
+    read_only: true,
   }
   allow_integration_in_goal_trajectories: {
     type: bool,
@@ -54,6 +59,7 @@ joint_trajectory_controller:
     type: double,
     default_value: 20.0,
     description: "Rate status changes will be monitored",
+    read_only: true,
     validation: {
       gt_eq: [0.1]
     }
@@ -62,6 +68,7 @@ joint_trajectory_controller:
     type: string,
     default_value: "splines",
     description: "The type of interpolation to use, if any",
+    read_only: true,
     validation: {
       one_of<>: [["splines", "none"]],
     }