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Use the custom validators directly from control_toolbox #1504

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Use the custom validators directly from control_toolbox #1504

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Use the custom validators directly from control_toolbox
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@christophfroehlich
christophfroehlich committed Jan 22, 2025
commit ca6e9da6cee57d55ceba05afe3bfa0fe3c36c62f
7 changes: 5 additions & 2 deletions diff_drive_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -35,9 +35,11 @@ endforeach()
add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})

# get include dirs from control_toolbox for the custom validators
get_target_property(TB_INCLUDE_DIRS control_toolbox::rate_limiter_parameters INTERFACE_INCLUDE_DIRECTORIES)
generate_parameter_library(diff_drive_controller_parameters
src/diff_drive_controller_parameter.yaml
include/diff_drive_controller/custom_validators.hpp
${TB_INCLUDE_DIRS}/control_toolbox/custom_validators.hpp
)

add_library(diff_drive_controller SHARED
Expand All @@ -51,7 +53,8 @@ target_include_directories(diff_drive_controller PUBLIC
)
target_link_libraries(diff_drive_controller
PUBLIC
diff_drive_controller_parameters)
diff_drive_controller_parameters
control_toolbox::rate_limiter_parameters)
ament_target_dependencies(diff_drive_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
pluginlib_export_plugin_description_file(controller_interface diff_drive_plugin.xml)

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64 changes: 0 additions & 64 deletions diff_drive_controller/include/diff_drive_controller/custom_validators.hpp
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32 changes: 16 additions & 16 deletions diff_drive_controller/src/diff_drive_controller_parameter.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -132,30 +132,30 @@ diff_drive_controller:
type: double,
default_value: .NAN,
validation: {
"diff_drive_controller::gt_eq_or_nan<>": [0.0]
"control_filters::gt_eq_or_nan<>": [0.0]
}
}
min_velocity: {
type: double,
default_value: .NAN,
validation: {
"diff_drive_controller::lt_eq_or_nan<>": [0.0]
"control_filters::lt_eq_or_nan<>": [0.0]
}
}
max_acceleration: {
type: double,
default_value: .NAN,
description: "Maximum acceleration in forward direction.",
validation: {
"diff_drive_controller::gt_eq_or_nan<>": [0.0]
"control_filters::gt_eq_or_nan<>": [0.0]
}
}
max_deceleration: {
type: double,
default_value: .NAN,
description: "Maximum deceleration in forward direction.",
validation: {
"diff_drive_controller::lt_eq_or_nan<>": [0.0]
"control_filters::lt_eq_or_nan<>": [0.0]
}
}
min_acceleration: {
Expand All @@ -168,29 +168,29 @@ diff_drive_controller:
default_value: .NAN,
description: "Maximum acceleration in reverse direction. If not set, -max_acceleration will be used.",
validation: {
"diff_drive_controller::lt_eq_or_nan<>": [0.0]
"control_filters::lt_eq_or_nan<>": [0.0]
}
}
max_deceleration_reverse: {
type: double,
default_value: .NAN,
description: "Maximum deceleration in reverse direction. If not set, -max_deceleration will be used.",
validation: {
"diff_drive_controller::gt_eq_or_nan<>": [0.0]
"control_filters::gt_eq_or_nan<>": [0.0]
}
}
max_jerk: {
type: double,
default_value: .NAN,
validation: {
"diff_drive_controller::gt_eq_or_nan<>": [0.0]
"control_filters::gt_eq_or_nan<>": [0.0]
}
}
min_jerk: {
type: double,
default_value: .NAN,
validation: {
"diff_drive_controller::lt_eq_or_nan<>": [0.0]
"control_filters::lt_eq_or_nan<>": [0.0]
}
}
angular:
Expand All @@ -214,30 +214,30 @@ diff_drive_controller:
type: double,
default_value: .NAN,
validation: {
"diff_drive_controller::gt_eq_or_nan<>": [0.0]
"control_filters::gt_eq_or_nan<>": [0.0]
}
}
min_velocity: {
type: double,
default_value: .NAN,
validation: {
"diff_drive_controller::lt_eq_or_nan<>": [0.0]
"control_filters::lt_eq_or_nan<>": [0.0]
}
}
max_acceleration: {
type: double,
default_value: .NAN,
description: "Maximum acceleration in positive direction.",
validation: {
"diff_drive_controller::gt_eq_or_nan<>": [0.0]
"control_filters::gt_eq_or_nan<>": [0.0]
}
}
max_deceleration: {
type: double,
default_value: .NAN,
description: "Maximum deceleration in positive direction.",
validation: {
"diff_drive_controller::lt_eq_or_nan<>": [0.0]
"control_filters::lt_eq_or_nan<>": [0.0]
}
}
min_acceleration: {
Expand All @@ -250,28 +250,28 @@ diff_drive_controller:
default_value: .NAN,
description: "Maximum acceleration in negative direction. If not set, -max_acceleration will be used.",
validation: {
"diff_drive_controller::lt_eq_or_nan<>": [0.0]
"control_filters::lt_eq_or_nan<>": [0.0]
}
}
max_deceleration_reverse: {
type: double,
default_value: .NAN,
description: "Maximum deceleration in negative direction. If not set, -max_deceleration will be used.",
validation: {
"diff_drive_controller::gt_eq_or_nan<>": [0.0]
"control_filters::gt_eq_or_nan<>": [0.0]
}
}
max_jerk: {
type: double,
default_value: .NAN,
validation: {
"diff_drive_controller::gt_eq_or_nan<>": [0.0]
"control_filters::gt_eq_or_nan<>": [0.0]
}
}
min_jerk: {
type: double,
default_value: .NAN,
validation: {
"diff_drive_controller::lt_eq_or_nan<>": [0.0]
"control_filters::lt_eq_or_nan<>": [0.0]
}
}
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