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Split example/README.md into C++ and Python version; updated content (PickNikRobotics#138)
Signed-off-by: Christian Eichmann <eichmann@fzi.de>
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‎example/README.md

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```
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source install/setup.bash
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ros2 run generate_parameter_library_example test_node --ros-args --params-file src/generate_parameter_library/examples/cpp/config/implementation.yaml
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```
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## Or run the Python node
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```
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source install/setup.bash
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ros2 run generate_parameter_module_example test_node --ros-args --params-file src/generate_parameter_library/examples/python/config/implementation.yaml
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ros2 run generate_parameter_library_example test_node --ros-args --params-file src/generate_parameter_library/example/config/implementation.yaml
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```
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You should see an output like this:
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You should see:
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`[INFO] [1656019001.515820371] [admittance_controller]: Control frame is: 'new_frame'`
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`[INFO] [1656019001.515820371] [admittance_controller]: New control frame parameter is: 'new_frame'`
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Congratulations, you updated the parameter!
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you will get the error
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`Setting parameter failed: Invalid value '-10' for parameter 'admittance.damping_ratio'. Required bounds: [0.1, 10]`
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`Setting parameter failed: Value -10.0 in parameter 'admittance.damping_ratio' must be within bounds [0.1, 10.0]`
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If you try to set a vector parameter with the wrong length,
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`ros2 param set /admittance_controller admittance.damping_ratio [1.0,1.0,1.0]`
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you will get the error
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`Setting parameter failed: Invalid length '3' for parameter 'admittance.damping_ratio'. Required equal to: 6`
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`Setting parameter failed: Length of parameter 'admittance.damping_ratio' is 3 but must be equal to 6`
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If you try to load a yaml file with missing required parameters
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‎example_python/README.md

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# Example:
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## Build the node
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```
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mkdir colcon_ws
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mkdir colcon_ws/src
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cd colcon_ws/src
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git clone https://github.com/picknikrobotics/generate_parameter_library.git
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cd ..
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colcon build
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```
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## Run the Python node
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```
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source install/setup.bash
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ros2 run generate_parameter_module_example test_node --ros-args --params-file src/generate_parameter_library/example_python/config/implementation.yaml
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```
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You should see an output like this:
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`[INFO] [1656018676.015816509] [admittance_controller]: Initial control frame parameter is: 'ee_link'`
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## ROS 2 CLI
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Run the following:
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`ros2 param list`
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You should see:
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```
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/admittance_controller:
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admittance.damping_ratio
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admittance.mass
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admittance.selected_axes
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admittance.stiffness
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chainable_command_interfaces
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command_interfaces
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control.frame.external
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control.frame.id
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enable_parameter_update_without_reactivation
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fixed_array
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fixed_string
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fixed_string_no_default
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fixed_world_frame.frame.external
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fixed_world_frame.frame.id
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ft_sensor.filter_coefficient
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ft_sensor.frame.external
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ft_sensor.frame.id
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ft_sensor.name
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gravity_compensation.CoG.force
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gravity_compensation.CoG.pos
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gravity_compensation.frame.external
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gravity_compensation.frame.id
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interpolation_mode
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joints
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kinematics.alpha
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kinematics.base
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kinematics.group_name
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kinematics.plugin_name
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kinematics.plugin_package
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kinematics.tip
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one_number
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pid.elbow_joint.d
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pid.elbow_joint.i
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pid.elbow_joint.p
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pid.rate
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pid.shoulder_lift_joint.d
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pid.shoulder_lift_joint.i
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pid.shoulder_lift_joint.p
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pid.shoulder_pan_joint.d
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pid.shoulder_pan_joint.i
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pid.shoulder_pan_joint.p
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pid.wrist_1_joint.d
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pid.wrist_1_joint.i
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pid.wrist_1_joint.p
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pid.wrist_2_joint.d
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pid.wrist_2_joint.i
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pid.wrist_2_joint.p
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pid.wrist_3_joint.d
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pid.wrist_3_joint.i
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pid.wrist_3_joint.p
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qos_overrides./parameter_events.publisher.depth
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qos_overrides./parameter_events.publisher.durability
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qos_overrides./parameter_events.publisher.history
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qos_overrides./parameter_events.publisher.reliability
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scientific_notation_num
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state_interfaces
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three_numbers
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three_numbers_of_five
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use_feedforward_commanded_input
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use_sim_time
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```
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All parameter are automatically declared and callbacks are setup by default. You can set a parameter by typing:
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`ros2 param set /admittance_controller control.frame.id new_frame`
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You should see:
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`[INFO] [1656019001.515820371] [admittance_controller]: New control frame parameter is: 'new_frame'`
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Congratulations, you updated the parameter!
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If you try to set a parameter that is read only, you will get an error. Running the following
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`ros2 param set /admittance_controller command_interfaces ["velocity"]`
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will result in the error
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`Setting parameter failed: Trying to set a read-only parameter: command_interfaces.`
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Running the following
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`ros2 param describe /admittance_controller admittance.damping_ratio`
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will show a parameter's description
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```
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Parameter name: admittance.damping_ratio
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Type: double array
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Description: specifies damping ratio values for x, y, z, rx, ry, and rz used in the admittance calculation. The values are calculated as damping can be used instead: zeta = D / (2 * sqrt( M * S ))
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Constraints:
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Min value: 0.1
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Max value: 10.0
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```
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If you try to set a value out of the specified bounds,
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`ros2 param set /admittance_controller admittance.damping_ratio [-10.0,-10.0,-10.0,-10.0,-10.0,-10.0]`
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you will get the error
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`Setting parameter failed: Value array('d', [-10.0, -10.0, -10.0, -10.0, -10.0, -10.0]) in parameter 'admittance.damping_ratio' must be within bounds [0.1, 10.0]`
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If you try to set a vector parameter with the wrong length,
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`ros2 param set /admittance_controller admittance.damping_ratio [1.0,1.0,1.0]`
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you will get the error
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`Setting parameter failed: Length of parameter 'admittance.damping_ratio' is '3' but must be equal to 6`
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If you try to load a yaml file with missing required parameters
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`ros2 run generate_parameter_module_example test_node --ros-args --params-file src/generate_parameter_library/example_python/config/missing_required.yaml`
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you will get the error
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```
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Traceback (most recent call last):
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[...]
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rclpy.exceptions.ParameterUninitializedException: The parameter 'fixed_string_no_default' is not initialized
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[ros2run]: Process exited with failure 1
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```

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