Add ROS 2 parameter viewing and setting

CHANGELOG.md

@@ -17,6 +17,9 @@ those entries into the versioned section when a release is created.
 - Add `sensor_msgs/msg/Imu` subscription support with full field conversion (`header`, `orientation` + covariance, `angular_velocity` + covariance, `linear_acceleration` + covariance).
 - Add `geometry_msgs/msg/PoseStamped` subscription support (`header`, `pose`).
 - Add per-subscription `qos` config field accepting `"default"` (Reliable, Volatile, KeepLast — rclrs default depth) or `"sensor_data"` (BestEffort, Volatile, KeepLast 5). Omitting `qos` preserves existing behavior.
+- View and set ROS 2 parameters on any node via the standard `rcl_interfaces` parameter services. The agent gains `ListParameters`, `GetParameters`, and `SetParameter` protocol requests.
+- CLI commands `list-params`, `get-param`, and `set-param`.
+- A TUI Params tab to browse a node's parameters and edit values in place.
 
 ### Changed
 
@@ -33,6 +36,10 @@ those entries into the versioned section when a release is created.
 
 ### Fixed
 
+- Preserve existing parameter types when editing TUI parameter values that look like another type.
+- Return CLI errors for failed `list-params` and `get-param` responses.
+- Show fully-qualified node names in the TUI Params tab so namespaced nodes are distinguishable.
+- Fix clean `pixi run build` of `rclrs_ws` failing on the first Rust package: the parent talos cargo workspace leaked into the nested build via `.cargo/config.toml` `[patch.crates-io]` paths and the root `Cargo.toml` workspace. The build now isolates the ancestor cargo config, and `rclrs_ws` is excluded from the talos workspace.
 - Clear stale TUI topic subscription errors when later topic data confirms a desired subscription is healthy again.
 - Clear stale unsubscribe errors after reconnect when the desired state is already unsubscribed.
 - Ignore stale TUI subscribe or unsubscribe acknowledgements after desired topic intent changes.

Cargo.toml

@@ -6,6 +6,9 @@ members = [
     "talos-agent",
     "talos-tui",
 ]
+# rclrs_ws is a nested colcon/cargo workspace built via pixi; keep its crates
+# out of this workspace so cargo doesn't try to adopt them.
+exclude = ["rclrs_ws"]
 
 [workspace.package]
 version = "0.1.5"

docs/src/SUMMARY.md

@@ -27,6 +27,7 @@
 - [Node Introspection](features/node-introspection.md)
 - [Logs](features/logs.md)
 - [Joint Control](features/joint-control.md)
+- [Parameters](features/parameters.md)
 
 # Design History
 

docs/src/architecture/protocol.md

@@ -22,6 +22,9 @@ Clients send `Request` values:
 - `Unsubscribe { topics }`
 - `SetJointPosition { joint, position }`
 - `ExecutePose { name }`
+- `ListParameters { node }`
+- `GetParameters { node, names }`
+- `SetParameter { node, name, value }`
 
 ## Responses
 
@@ -33,6 +36,8 @@ The agent replies with `Response` values:
 - `Subscribed`
 - `Unsubscribed`
 - `TopicData`
+- `Parameters { node, parameters }`
+- `ParameterSet { node, name, successful, reason }`
 - `Ok`
 - `Error`
 

docs/src/features/parameters.md

@@ -0,0 +1,50 @@
+# Parameters
+
+Talos can view and set ROS 2 parameters on any node in the graph. Parameters
+belong to individual nodes, so all parameter operations are addressed to a
+fully-qualified node name (for example `/talos_agent`).
+
+## How It Works
+
+The agent acts as a parameter service *client*. For a requested node it creates
+short-lived clients to that node's standard `rcl_interfaces` parameter services:
+
+- `<node>/list_parameters`
+- `<node>/get_parameters`
+- `<node>/set_parameters`
+
+These clients are serviced by the bridge node's spinning executor. The agent
+waits briefly for the target services to become available, forwards the call,
+and converts the result into transport-agnostic protocol types so clients need
+no ROS 2 message definitions.
+
+If the bridge node is not yet running, or the target node does not expose
+parameter services within the wait window, the agent returns an error rather
+than blocking indefinitely.
+
+## Values
+
+Parameter values are carried as `ParamValue`, mirroring the variants of
+`rcl_interfaces/msg/ParameterValue`: `Bool`, `Integer`, `Double`, `String`,
+byte/bool/integer/double/string arrays, and `NotSet` for parameters that exist
+but have no value.
+
+When setting a value from text (CLI argument or TUI edit field), the type is
+inferred:
+
+- `true` / `false` &rarr; bool
+- an integer literal &rarr; integer
+- a number with a decimal point &rarr; double
+- `[ ... ]` &rarr; an array (element type inferred from the contents)
+- anything else &rarr; string (surrounding quotes are stripped)
+
+## Clients
+
+The CLI exposes `list-params`, `get-param`, and `set-param`. See
+[CLI](../usage/cli.md#parameters).
+
+The TUI Params tab lists graph nodes, loads a selected node's parameters, and
+can edit a parameter value in place. See [TUI](../usage/tui.md#params).
+
+Setting a parameter reports the node's per-parameter result; a rejected change
+includes the reason supplied by the node.