Implemented parameter handling

[Chootin]

This PR adds parameter handling to nodes including parameter overrides and support for use_sim_time on the node clock.

The PR also addresses the TODO regarding reading and using RMW definitions for quality of service profiles over the interop.
-> Was extracted to #131

Finally it updates the rcldotnet_examples/RCLDotnetTalker.cs example to demonstrate using a parameter.

[Chootin]

Happy new year @hoffmann-stefan!

I have pulled together the commits from my fork relevant to parameter handling and QoS improvements when you have some time to have a look. Cheers!

[renemoll]

@Chootin, first of all thanks for this patch, I am already using it.

I did have to make a fix on the QoS header, see: renemoll@ea1993f

[Chootin]

@Chootin, first of all thanks for this patch, I am already using it.

I did have to make a fix on the QoS header, see: renemoll@ea1993f

Thanks for catching that! I've merged it in.

[hoffmann-stefan]

Part of this was merged in #131

@Chootin: Could you force push my branch onto this? This was updated at the same time I split the Commits for #131, so you don't have to rebase everything with merge conflicts again. You can view the diff locally between your current branch and mine, there are only other changes that got merged in the meantime to main.

• https://github.com/hoffmann-stefan/ros2_dotnet/tree/upstream_pr2_params_rebased

Something like that if you haven't done this before:

# add my remote
$ git remote add origin-hoffmann-stefan https://github.com/hoffmann-stefan/ros2_dotnet.git
$ git fetch origin-hoffmann-stefan
# Diff to check that nothing got changed
$ git diff tutina/upstream_pr2 origin-hoffmann-stefan/upstream_pr2_params_rebased
# Reset your branch to the last commit of my branch
$ git reset --hard origin-hoffmann-stefan/upstream_pr2_params_rebased
# Force push to update this PR
$ git push -f

[Chootin]

I have completed the requested force push - looks like it can now be merged. @hoffmann-stefan

[hoffmann-stefan]

@Chootin

Hi, took some time to get started reviewing this ;)

The functionality looks good, great work 👍

I did rebase your branch and made some changes as I did review this and compare the implementation with both rclppp and rclpy. see https://github.com/Chootin/ros2_dotnet/compare/tutina/upstream_pr2...hoffmann-stefan:ros2_dotnet:upstream_pr2_rebased?expand=1

The most significant change was introducing the Parameter wrapper type, like rclpy and rclcpp does.

I'm not quite finished yet reviewing, but at least wanted you to know I started and made some progress :)
Not sure how I find time for this over the holidays, if not I should be able to continue next year.

Wish you Happy Holidays :)