Autoparameterization does not run again if a parameter has been set by a previous skill

[matthias-mayr]

@p-rosit: This is an example directly related to the workshop.

Setup

To get there, it's time to work with the workshop repos: https://github.com/ros-wg-delib/roscon24-workshop

git clone --recurse-submodules https://github.com/ros-wg-delib/roscon24-workshop.git
docker compose build
docker compose run base

Inside the container start the world

ros2 run delib_ws_worlds run --ros-args -p problem_number:=1

Start SkiROS2 with this:

ros2 launch skiros2_pyrobosim_lib main.launch.py

Running the skill

These parameter settings on a newly started world should work:

Nice to see. But there's a catch:
To get it to work, I had to introduce this parameter:

skiros2_pyrobosim_lib/skiros2_pyrobosim_lib/pyrobosim_solutions.py

Line 13 in f8eed45

self.addParam("SecondStartLocation", Element("skiros:OpenableLocation"), ParamTypes.Inferred)

and use it here:

skiros2_pyrobosim_lib/skiros2_pyrobosim_lib/pyrobosim_solutions.py

Line 35 in f8eed45

self.skill("Navigate", "", remap={"StartLocation": "SecondStartLocation", "TargetLocation": "ObjectTargetLocation"}),

which is not really how it should work

[matthias-mayr]

I circumvented this by explicitly setting the StartLocation in problem 1: 670146e

However, that's still only a workaround