Add ParameterDescriptor override from yaml#909

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bpwilcox wants to merge 10 commits intoros2:rollingfrom

bpwilcox:add_parameter_descriptors_from_yaml

Commits on Jun 29, 2021

convert c struct parameter descriptor to ParamDescriptor message

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return map of parameter and parameter descriptors

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declare parameter descriptors from overrides

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only add integer range or floating point range

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default max/min range if either not provided

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throw error if mixed int/double descriptor range types

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modify parameter map tests for descriptors and add test cases

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fix rebase compile issues
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move ParameterInfo to parameters.hpp and use in parameter map, update unit test
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Commits on Dec 12, 2021

address feedback and update for rcl yaml param parser changes
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