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Fix Code Style On params/06-planning - #2595
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Adds rj_utils::declare_required_param<T>(node, name, description). It declares a parameter with its type and description and no default, and returns its value from the node's params file. A key missing from the YAML, or given the wrong type, throws at startup naming the node and key. (Humble does not throw on its own for a typed param with no value, so the helper checks.) Every migrated node uses it and no longer auto-declares params from the params file. Params are read once at startup; to change one, edit the YAML and restart the node. Also fixes launch files that referenced a nonexistent sim.yaml. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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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>
rj_ui had no parameters of its own; it only started the global param provider to sync the soccer.* globals used by rj_common (layer 11 replaces those). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Removes straight_line_test_node instead of migrating its params: the node, its LineTest message, the run_line_test launch argument, the run-sim-line-test / run-line-test-stack / run-real-line-test make targets, the line branch of framework.bash, and its YAML entries. The Line position stays; the gameplay robot factory uses it. Also drops the global param provider and auto-declared params from the agent action client nodes, which read no params. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Replaces every planning PARAM_* global and deletes planning_params from rj_param_utils. - PlannerNode declares every /planner param once at startup (load_planning_params) into a PlanningParams struct and shares it read-only with each PlannerForRobot. Each PlanRequest carries it and planners read request.params, so planners no longer touch the node. - Replanner::PlanParams takes ReplannerParams + IntermediateParams. - MotionConstraints, RotationConstraints and RobotConstraints move from rj_common to rj_planning. - Removes dead params: escape.* (unused since main removed RRT) and six collect.* values nothing has read since before this migration. - SettlePathPlanner::invalid() passes intermediate params like the other call sites. - settle_path_planner.hpp includes what it uses (it relied on unity-build batching). - planner_test loads the params from sim_params.yaml exactly like PlannerNode, so it also catches a missing key. The play-state speed cap still replaces max_translational_speed, as it always has, so that param has no effect today (see make_request). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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This pull request contains automatic style formatting for PR #2593. @yuvrajdhadwal, please merge this branch into your own to pass style checks!