AP_DDS: Parameters service

[PQuill33]

ISSUE

#28292

Changes

-Add set parameters service call to AP_DDS library

• service is /ap/set_parameters
• Add get parameters service call to AP_DDS library
• service is /ap/get_parameters

Test

Using ros2 CLI, launch ardupilot sitl

ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501

• Check that parameter service is up

ros2 service list

Expected output

• Service call to set parameter

ros2 service call /ap/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: LOIT_SPEED, value: {type: 2, integer_value: 1250}}]}"

Expected output
mavproxy window:

service call window:

• Service call to get parameter

ros2 service call /ap/get_parameters rcl_interfaces/srv/GetParameters "{names: ['LOIT_SPEED']}"

Expected output
mavproxy window:

service call window: