Feature/params

README.md

@@ -104,6 +104,30 @@ It also features some quality of life improvements for ROS outputs.
 <img src="docs/assets/images/screenshots/action_list.png" width="600" alt="ros2 action list"/>
 </p>
 
+- ### **```ros2 param list``` coloring**
+  Node headers are colored with the group badge; parameter names are rendered dim so the structure is easy to scan. `--param-type` type annotations are dimmed automatically.
+
+<p align="center">
+<img src="docs/assets/images/screenshots/param_list.png" width="600" alt="ros2 param list"/>
+</p>
+
+- ### **```ros2 param describe``` coloring**
+  The group badge and parameter name are highlighted; field labels (`Type:`, `Description:`) are dimmed; section headers like `Constraints:` are bolded so the output structure is immediately readable.
+
+<p align="center">
+<img src="docs/assets/images/screenshots/param_describe.png" width="600" alt="ros2 param describe"/>
+</p>
+
+- ### **Parameter change alert**
+  When a node's parameter changes at runtime — via `ros2 param set` or any parameter service client — an inline notification appears in the launch terminal showing the node, parameter name, and old→new value. Two styles: compact inline and a full-width inverted block that's hard to miss in busy logs.
+
+<p align="center">
+<img src="docs/assets/images/screenshots/param_alert_inline.png" width="600" alt="param change alert inline"/>
+</p>
+<p align="center">
+<img src="docs/assets/images/screenshots/param_alert_inverted.png" width="600" alt="param change alert inverted"/>
+</p>
+
 - ### **Truly non-invasive** 
   Shell-level pipe; you won't loose autocompletion or aliases for launch files
 

dendROS/dendROS.sh

@@ -77,6 +77,12 @@ ros2() {
     elif [[ "$1" == "action" && "$2" == "list" ]]; then
         "$_ROS2_BIN" "$@" | python3 "${_DENDROS_DIR}/dendros_action_list.py"
         return ${PIPESTATUS[0]}
+    elif [[ "$1" == "param" && "$2" == "list" ]]; then
+        "$_ROS2_BIN" "$@" | python3 "${_DENDROS_DIR}/dendros_param_list.py" "${@:3}"
+        return ${PIPESTATUS[0]}
+    elif [[ "$1" == "param" && "$2" == "describe" ]]; then
+        "$_ROS2_BIN" "$@" | python3 "${_DENDROS_DIR}/dendros_param_describe.py" "${@:3}"
+        return ${PIPESTATUS[0]}
     else
         "$_ROS2_BIN" "$@"
     fi

dendROS/dendROS_pipe.py

@@ -34,6 +34,7 @@
 from lib.global_config import load_global_config, get_node_colors_path
 import lib.crash_alert as ca
 import lib.traceback_color as tc
+import lib.param_watcher as pw
 
 _DEBUG = os.environ.get('DENDROS_DEBUG', '') not in ('', '0')
 
@@ -150,6 +151,12 @@ def main():
     if config_path:
         _save_node_colors(color_map, tag_map, style_map)
 
+    param_alert         = bool(global_cfg.get('param_change_alert', False))
+    param_alert_scope   = global_cfg.get('param_change_alert_scope', 'tracked')
+    param_alert_style   = global_cfg.get('param_change_alert_style', 'inline')
+    if param_alert:
+        pw.setup(color_map, tag_map, param_alert_scope)
+
     show_tag             = defaults.get('show_group_tag',       True)
     color_mode           = defaults.get('color_mode',           'tag_only')
     tag_position         = defaults.get('tag_position',         'after')
@@ -364,6 +371,11 @@ def _iter_stdin():
 
             _emit(_colorize(line))
 
+            if param_alert:
+                for notif in pw.drain(color_map, tag_map, style_map, tag_style, show_tag,
+                                      param_alert_style):
+                    _emit(notif)
+
             if ca._crash_alert_enabled:
                 if new_death:
                     ca.print_alert_banner()

dendROS/dendros_config.py

@@ -43,10 +43,13 @@
     ("init_color",           "Init: color",           "cycle", ["palette", "null"]),
     ("init_color_bold",      "Init: bold colors",     "cycle", [False, True]),
     ("init_label",           "Init: auto label",      "cycle", [False, True]),
-    ("crash_alert",          "Crash alert",           "cycle", [False, True]),
-    ("crash_alert_color",    "Alert color",           "cycle", ["node", "red"]),
-    ("crash_alert_interval", "Alert interval (s)",    "text",  None),
-    ("traceback_color",      "Traceback color",       "cycle", ["fancy", "red", "off"]),
+    ("crash_alert",              "Crash alert",           "cycle", [False, True]),
+    ("crash_alert_color",        "Alert color",           "cycle", ["node", "red"]),
+    ("crash_alert_interval",     "Alert interval (s)",    "text",  None),
+    ("traceback_color",          "Traceback color",       "cycle", ["fancy", "red", "off"]),
+    ("param_change_alert",       "Param change alert",    "cycle", [False, True]),
+    ("param_change_alert_scope", "Param alert scope",     "cycle", ["tracked", "all"]),
+    ("param_change_alert_style", "Param alert style",     "cycle", ["inline", "inverted"]),
 ]
 
 _DESCS = {
@@ -140,6 +143,18 @@
         "fancy — bold red header/exception, dim red frame lines (default)",
         "red   — entire traceback in bold red  |  off — no coloring (white)",
     ),
+    "param_change_alert": (
+        "on  — print an inline notification in the launch terminal whenever a parameter changes at runtime",
+        "off — parameter changes are silent; use ros2 param get to check values manually",
+    ),
+    "param_change_alert_scope": (
+        "tracked — only notify for nodes that have a color group in a dendROS.yaml config",
+        "all     — notify for every node on the ROS graph (includes nodes with no config entry)",
+    ),
+    "param_change_alert_style": (
+        "inline   — compact single line: [dendROS] param  [TAG] /node  param_name → value",
+        "inverted — reverse-video block with node color as background; harder to miss",
+    ),
 }
 
 _VAL_LABEL = {True: "on", False: "off", None: "null"}

dendROS/dendros_param_describe.py

@@ -0,0 +1,167 @@
+#!/usr/bin/env python3
+"""Colorize and format ros2 param describe output using dendROS node colors."""
+
+import os
+import re
+import sys
+
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+
+try:
+    import yaml
+except ImportError:
+    yaml = None
+
+from lib.config_loader import load_config, merge_color_maps, resolve_node, resolve_node_style
+from lib.colors import RESET, _resolve_color
+from lib.global_config import load_global_config, get_node_colors_path
+
+_PARAM_NAME_RE = re.compile(r'^(Parameter name):\s+(.*)')
+
+
+def _load_shared_colors():
+    if yaml is None:
+        return {}, {}, {}
+    path = get_node_colors_path()
+    if not os.path.isfile(path):
+        return {}, {}, {}
+    try:
+        with open(path) as f:
+            data = yaml.safe_load(f) or {}
+        return (
+            data.get('color_map', {}),
+            data.get('tag_map', {}),
+            data.get('style_map', {}),
+        )
+    except Exception:
+        return {}, {}, {}
+
+
+def _scan_configs():
+    if yaml is None:
+        return []
+    seen, paths = set(), []
+    for prefix in os.environ.get('AMENT_PREFIX_PATH', '').split(':'):
+        share = os.path.join(prefix, 'share') if prefix else ''
+        if not share or not os.path.isdir(share):
+            continue
+        try:
+            for pkg in sorted(os.listdir(share)):
+                candidate = os.path.join(share, pkg, 'config', 'dendROS.yaml')
+                if os.path.isfile(candidate) and candidate not in seen:
+                    seen.add(candidate)
+                    paths.append(candidate)
+        except OSError:
+            pass
+    return paths
+
+
+def _badge(label, ansi_code, style):
+    if style == 'inverted':
+        return f'\033[{ansi_code};7m[{label}]{RESET}'
+    return f'\033[{ansi_code}m[{label}]{RESET}'
+
+
+def _parse_node_arg(argv):
+    """Return the first positional argument that looks like a node path (starts with '/')."""
+    for arg in argv:
+        if arg.startswith('/'):
+            return arg
+    return None
+
+
+def _format_key_value(indent, key, value):
+    """Dim the key label; bold the section header when there is no value."""
+    if value:
+        return f'{indent}\033[2m{key}:\033[0m {value}'
+    return f'{indent}\033[1m{key}:\033[0m'
+
+
+def _colorize_line(raw, ansi_code, label, node_style,
+                   unmatched_ansi, unmatched_tag, tag_style,
+                   show_tag, dim_unmatched):
+    """Return a formatted version of one output line."""
+    if not raw.strip():
+        return raw
+
+    # ── Parameter name block header ──────────────────────────────────────────
+    m = _PARAM_NAME_RE.match(raw)
+    if m:
+        param_name = m.group(2).strip()
+        dim_label = f'\033[2mParameter name:\033[0m'
+
+        if ansi_code:
+            colored = f'\033[{ansi_code};1m{param_name}\033[0m'
+            if show_tag and label:
+                return f'{_badge(label, ansi_code, node_style)} {dim_label} {colored}'
+            return f'{dim_label} {colored}'
+
+        if unmatched_ansi:
+            colored = f'\033[{unmatched_ansi};1m{param_name}\033[0m'
+            if show_tag and unmatched_tag:
+                return f'{_badge(unmatched_tag, unmatched_ansi, tag_style)} {dim_label} {colored}'
+            return f'{dim_label} {colored}'
+
+        if dim_unmatched:
+            return f'{dim_label} \033[2m{param_name}\033[0m'
+
+        return f'{dim_label} {param_name}'
+
+    # ── Key: value lines (all indented fields) ────────────────────────────────
+    stripped = raw.lstrip()
+    indent = raw[:len(raw) - len(stripped)]
+
+    if ':' in stripped:
+        key, _, rest = stripped.partition(':')
+        value = rest.lstrip()
+        return _format_key_value(indent, key, value)
+
+    return raw
+
+
+def main():
+    cfg = load_global_config()
+    show_tag      = cfg['show_tag_cli']
+    tag_style     = cfg['tag_style']
+    unmatched_clr = cfg['unmatched_color']
+    unmatched_tag = cfg['unmatched_tag']
+    dim_unmatched = cfg['dim_unmatched']
+    unmatched_ansi = _resolve_color(unmatched_clr) if unmatched_clr else None
+
+    color_map, tag_map, style_map = _load_shared_colors()
+
+    if not color_map:
+        config_paths = _scan_configs()
+        tuples = []
+        for path in config_paths:
+            try:
+                c, t, m, s, k, _ = load_config(path)
+                tuples.append((c, t, m, s, k))
+            except Exception:
+                pass
+        if tuples:
+            c0, t0, m0, s0, k0 = tuples[0]
+            color_map, tag_map, _, style_map, _ = merge_color_maps(
+                c0, t0, m0, s0, k0, tuples[1:]
+            )
+
+    node_arg = _parse_node_arg(sys.argv[1:])
+    if node_arg:
+        ansi_code, label = resolve_node(node_arg, color_map, tag_map)
+        node_style = (resolve_node_style(node_arg, style_map) or tag_style) if ansi_code else tag_style
+    else:
+        ansi_code, label, node_style = None, None, tag_style
+
+    for line in sys.stdin:
+        raw = line.rstrip('\n')
+        out = _colorize_line(
+            raw, ansi_code, label, node_style,
+            unmatched_ansi, unmatched_tag, tag_style,
+            show_tag, dim_unmatched,
+        )
+        sys.stdout.write(out + '\n')
+        sys.stdout.flush()
+
+
+if __name__ == '__main__':
+    main()