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[params 3/13] rj_control: remove rj_param_utils, require control params - #2590
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Declares timeout instead of the DEFINE macro and LocalROS2ParamProvider, drops the global param provider, and removes the rj_param_utils dependency. The radio node no longer auto-declares params. sim_radio's interface had a silent localhost fallback (a workaround for sim2play, whose launch path no longer exists). It is now required, and real_params.yaml gets interface: 127.0.0.1 so running the sim radio with the real params behaves as before. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Motion control already read its gains and limits from /control; the LocalROS2ParamProvider and global param provider were unused and are removed. Params are now declared, read once at startup: - Limits shared by every robot (max_velocity, max_angular_velocity, windups) are declared once on the node and passed to each controller. Before, all 16 controllers read the same keys. - Each controller declares its own robot_N.* gains. - Controllers are held by unique_ptr and are non-copyable/non-movable, since their subscriptions capture this. - Removes max_acceleration, which was read but never used. kNumShells is 16 but the YAMLs only had gains for robot_0..robot_5, so shells 6-15 ran with uninitialized gains. Adds robot_6..robot_15 to both YAMLs with robot_5's values. motion_control_test now gives its node the gains; it used to build a controller on a bare node with uninitialized gains. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Description
Removes
rj_param_utilsfromrj_control. Params are declared and read once at startup. MotionControlParams is passed as a shared pointer, allowing its consumers to read updated values on update, and basic validation is used in the change callback