Dump complete cfg after parsing it

[gavanderhoorn]

Alternative to #84. This also adds the namespaces to the keys and refactors things slightly.

This is based on the work of @SejalBehere, but I've removed the changes to how things are parsed (ie: the QoSMapping and related types and functions are no longer used).

I decided to rework the PR a bit as it mixed two different things: we may want to extend the nr of supported QoS profiles in the future, but for now we're only interested in pretty-printing the complete configuration struct. That's what #33 asks for.

Functionally, this is largely equivalent to what @SejalBehere implemented in #84.

So thanks @SejalBehere for the work 👍

[gavanderhoorn]

Tested this on the YRC here.

Output:

Click to expand

[2023-08-16 15:30:23.939693] [192.168.255.1:59810]: ---
[2023-08-16 15:30:23.939693] [192.168.255.1:59810]: MotoROS2 0.1.1pre - boot
[2023-08-16 15:30:23.940726] [192.168.255.1:59810]: M+ libmicroros version: 'humble-20230624-O1-DNDEBUG-no-except-no-rtti'
[2023-08-16 15:30:23.941692] [192.168.255.1:59810]: PlatformLib version: 0.2.11
[2023-08-16 15:30:24.279971] [192.168.255.1:59810]: Renaming configuration file to mark it as processed
[2023-08-16 15:30:24.286948] [192.168.255.1:59810]: Configuration file updated from CN102 USB drive.
[2023-08-16 15:30:24.286948] [192.168.255.1:59810]: Checking configuration file: motoros2_config.yaml
[2023-08-16 15:30:24.292937] [192.168.255.1:59810]: Ros_ConfigFile_HostOnNetworkInterface: checking '192.168.255.200' on iface 1
[2023-08-16 15:30:24.292937] [192.168.255.1:59810]: Ros_ConfigFile_HostOnNetworkInterface: exit: on network: true
[2023-08-16 15:30:24.292937] [192.168.255.1:59810]: UserLan monitor enabled, checking port setting ..
[2023-08-16 15:30:24.292937] [192.168.255.1:59810]: Ros_ConfigFile_HostOnNetworkInterface: checking '192.168.255.200' on iface 1
[2023-08-16 15:30:24.293930] [192.168.255.1:59810]: Ros_ConfigFile_HostOnNetworkInterface: exit: on network: true
[2023-08-16 15:30:24.293930] [192.168.255.1:59810]: UserLan monitor auto-detect port: 1
[2023-08-16 15:30:24.293930] [192.168.255.1:59810]: Config: ros_domain_id = 0
[2023-08-16 15:30:24.293930] [192.168.255.1:59810]: Config: node_name = 'motoman_12_34_56'
[2023-08-16 15:30:24.293930] [192.168.255.1:59810]: Config: node_namespace = ''
[2023-08-16 15:30:24.293930] [192.168.255.1:59810]: Config: remap_rules = ''
[2023-08-16 15:30:24.293930] [192.168.255.1:59810]: Config: agent_ip_address = '192.168.255.200'
[2023-08-16 15:30:24.293930] [192.168.255.1:59810]: Config: agent_port_number = '8888'
[2023-08-16 15:30:24.293930] [192.168.255.1:59810]: Config: sync_timeclock_with_agent = 1
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: Config: namespace_tf = 1
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: Config: publish_tf = 1
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: List of configured joint names:
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: ---
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.294927] [192.168.255.1:59810]: ---
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: ---
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.295924] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.296921] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.296921] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.296921] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.296921] [192.168.255.1:59810]: ---
[2023-08-16 15:30:24.296921] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.296921] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.296921] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.297919] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.297919] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.299915] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.316871] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.320858] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.320858] [192.168.255.1:59810]: ---
[2023-08-16 15:30:24.327982] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.327982] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.327982] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.328979] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.330976] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.338975] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.340974] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.340974] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.348224] [192.168.255.1:59810]: ---
[2023-08-16 15:30:24.349253] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.351250] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.352243] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.358459] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.359456] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.359456] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.360453] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.361450] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.369429] [192.168.255.1:59810]: ---
[2023-08-16 15:30:24.369429] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.369429] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.370426] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.372421] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.372421] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.379450] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.379450] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.379450] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.380446] [192.168.255.1:59810]: ---
[2023-08-16 15:30:24.381445] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.383439] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.389291] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.389291] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.389291] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.390290] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.390290] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.391287] [192.168.255.1:59810]: x
[2023-08-16 15:30:24.391287] [192.168.255.1:59810]: ---
[2023-08-16 15:30:24.391287] [192.168.255.1:59810]: Config: logging.log_to_stdout = 0
[2023-08-16 15:30:24.391287] [192.168.255.1:59810]: Config: update_periods.executor_sleep_period = 10
[2023-08-16 15:30:24.392285] [192.168.255.1:59810]: Config: update_periods.action_feedback_publisher_period = 20
[2023-08-16 15:30:24.394279] [192.168.255.1:59810]: Config: update_periods.controller_status_monitor_period = 10
[2023-08-16 15:30:24.401423] [192.168.255.1:59810]: Config: publisher_qos.robot_status = 'sensor_data'
[2023-08-16 15:30:24.401423] [192.168.255.1:59810]: Config: publisher_qos.joint_states = 'sensor_data'
[2023-08-16 15:30:24.401423] [192.168.255.1:59810]: Config: publisher_qos.tf = 'default'
[2023-08-16 15:30:24.402394] [192.168.255.1:59810]: Config: tf_frame_prefix = ''
[2023-08-16 15:30:24.402394] [192.168.255.1:59810]: Config: stop_motion_on_disconnect = 1
[2023-08-16 15:30:24.402394] [192.168.255.1:59810]: Config: inform_job_name = 'INIT_ROS'
[2023-08-16 15:30:24.403391] [192.168.255.1:59810]: Config: allow_custom_inform_job = 0
[2023-08-16 15:30:24.404389] [192.168.255.1:59810]: Config: userlan_monitor_enabled = 1
[2023-08-16 15:30:24.411212] [192.168.255.1:59810]: Config: userlan_monitor_port = 1
[2023-08-16 15:30:24.411212] [192.168.255.1:59810]: Waiting for robot alarms to clear...