Record ROS2 Parameters within a ros2 bag

[vinnnyr]

Description

I would love it if we could store ROS2 Parameters that were present during runtime into a bag so that is archived in . Often I have trouble looking at bags of, let's say controller performance, but not having record of what controller parameters we used to achieve such performance.

Related Issues

I think in order to handle parameters changed DURING the bag recording, we need to also do #773 but it's not strictly blocking

Completion Criteria

• All ROS2 parameters are saved at record time via optional CLI arg
• Thes ROS2 parameters can be queryied / inspected after recording is done

Implementation Notes / Suggestions

** If you have ideas about how this feature might be accomplished, put them here. Note that this is just a suggestion to the implementer, so feel free to speculate. **
Maybe this is something to store in metadata.yaml? maybe it can take advantage of the key value pair in the bag?

Testing Notes / Suggestions

** All features in this project need tests. Please give some input on cases that will need to be tested - and how the testing might be implemented. **

[MichaelOrlov]

@vinnnyr The key problem here is how to get those parameters from the remote nodes.
Any ideas?