Fix deprecation warning in paramater declaration

[kumar-sanjeeev]

Updated the paramater declaration in publisher_forward_position_controller to resolve a deprecation warning when running the demo using ros2 launch ros2_control_demo_example_1 test_forward_position_controller.launch.py.

Changes Made:

• Replaced self.declare_parameter(name) with self.declare_parameter(name, descriptor=ParameterDescriptor(dynamic_typing=True))

Fixes: #1239

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 2 lines in your changes missing coverage. Please review.

Project coverage is 80.33%. Comparing base (c08bdab) to head (cc4694a).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...est_nodes/publisher_forward_position_controller.py	0.00%	1 Missing ⚠️
...est_nodes/publisher_joint_trajectory_controller.py	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1280      +/-   ##
==========================================
- Coverage   80.36%   80.33%   -0.03%     
==========================================
  Files         105      105              
  Lines        9389     9392       +3     
  Branches      827      831       +4     
==========================================
  Hits         7545     7545              
+ Misses       1571     1570       -1     
- Partials      273      277       +4     

Flag	Coverage Δ
unittests	80.33% <0.00%> (-0.03%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...est_nodes/publisher_forward_position_controller.py	0.00% <0.00%> (ø)
...est_nodes/publisher_joint_trajectory_controller.py	0.00% <0.00%> (ø)

... and 3 files with indirect coverage changes

[christophfroehlich]

Thanks for your contribution.
One question: Why shouldn't we specify the type of being a PARAMETER_STRING instead of activating dynamic_typing?

[kumar-sanjeeev]

Hi @christophfroehlich

I opted for dynamic_typing because it is implemented in the publisher_joint_trajectory_controller.

As you suggested, I tried using the type during the declaration of parameters, and it works as well: self.declare_parameter(name, rclpy.Parameter.Type.DOUBLE_ARRAY)

[destogl]

As you suggested, I tried using the type during the declaration of parameters, and it works as well: self.declare_parameter(name, rclpy.Parameter.Type.DOUBLE_ARRAY)

Let's use this exact approach. As rather to use explicit instead of implicit

[christophfroehlich]

LGTM!

[saikishor]

LGTM