Fix #259 - ParameterAlreadyDeclaredException for parameter position_proportional_gain

[roncapat]

Fixes #259.

@TipluJacob could you try check out this branch or apply this small patch on your setup and see if it works again?

[TipluJacob]

I am sorry, my setup currently only works with humble and when I try to build your branch with my humble setup it fails, which is probably no surprise:

[roncapat]

can you apply manually https://github.com/ros-controls/gz_ros2_control/pull/261/files?

[TipluJacob]

Yes, I could manually apply those changes and it works now. Although for the second joint it now reports that the position_proportional_gain has been set to 0.
It just does not feel like a clean solution, but for now it seems alright.

[roncapat]

I agree, this should not happen. I will investigate.

[roncapat]

@TipluJacob friendly ping, I updated the patch. Could you check again?

[TipluJacob]

Yea, this looks better now:

[roncapat]

Ok, at least now, with respect to previous baseline, there is:

• (retention of the) possibility to load multiple systems
• possibility to change the (otherwise defaulted) gain value globally.

Note: even before, it was a value globally defaulted.

[destogl]

I have applied this to humble (cherry-picking) and can confirm that it is working!

Thanks!

[roncapat]

Thank you!

[ahcorde]

https://github.com/Mergifyio backport humble iron

[mergify]

backport humble iron

✅ Backports have been created

• #262 Fix #259 - ParameterAlreadyDeclaredException for parameter position_proportional_gain (backport #261) has been created for branch humble
• #263 Fix #259 - ParameterAlreadyDeclaredException for parameter position_proportional_gain (backport #261) has been created for branch iron