Pass initial parameter values to node constructor (#486)

* Pass parameter values to node constructor

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -89,6 +89,7 @@ public:
    * \param[in] node_name Namespace of the node.
    * \param[in] context The context for the node (usually represents the state of a process).
    * \param[in] arguments Command line arguments that should apply only to this node.
+   * \param[in] initial_parameters a list of initial values for parameters on the node.
    * This can be used to provide remapping rules that only affect one instance.
    * \param[in] use_global_arguments False to prevent node using arguments passed to the process.
    * \param[in] use_intra_process_comms True to use the optimized intra-process communication
@@ -100,6 +101,7 @@ public:
     const std::string & namespace_,
     rclcpp::Context::SharedPtr context,
     const std::vector<std::string> & arguments,
+    const std::vector<rclcpp::Parameter> & initial_parameters,
     bool use_global_arguments = true,
     bool use_intra_process_comms = false,
     bool start_parameter_services = true);

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -51,6 +51,7 @@ LifecycleNode::LifecycleNode(
     namespace_,
     rclcpp::contexts::default_context::get_global_default_context(),
     {},
+    {},
     true,
     use_intra_process_comms,
     true)
@@ -61,6 +62,7 @@ LifecycleNode::LifecycleNode(
   const std::string & namespace_,
   rclcpp::Context::SharedPtr context,
   const std::vector<std::string> & arguments,
+  const std::vector<rclcpp::Parameter> & initial_parameters,
   bool use_global_arguments,
   bool use_intra_process_comms,
   bool start_parameter_services)
@@ -75,6 +77,7 @@ LifecycleNode::LifecycleNode(
       node_base_,
       node_topics_,
       node_services_,
+      initial_parameters,
       use_intra_process_comms,
       start_parameter_services
     )),