Fixed parameter naming

Ensmasteel · Apr 24, 2024 · abcbf40 · abcbf40
1 parent a768bf0
commit abcbf40
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/src/ezbot_robot/config/omnidirectional_controller.yaml b/src/ezbot_robot/config/omnidirectional_controller.yaml
@@ -39,8 +39,8 @@ omnidirectional_controller:
     linear_max_velocity: 5.0
 
     linear_has_acceleration_limits: true
-    max_acceleration: 10.0
-    min_acceleration: -10.0
+    linear_max_acceleration: 10.0
+    linear_min_acceleration: -10.0
 
     angular_has_acceleration_limits: true
     angular_max_acceleration: 2.0

diff --git a/src/omnidirectional_controllers/src/omnidirectional_controller.cpp b/src/omnidirectional_controllers/src/omnidirectional_controller.cpp
@@ -188,8 +188,8 @@ CallbackReturn OmnidirectionalController::on_configure(
     odom_params_.linear_has_acceleration_limits = linear_has_acceleration_limits.as_bool();
   }
   if (odom_params_.linear_has_acceleration_limits) {
-    odom_params_.linear_min_acceleration = node_->get_parameter("min_acceleration").as_double();
-    odom_params_.linear_max_acceleration = node_->get_parameter("max_acceleration").as_double();
+    odom_params_.linear_min_acceleration = node_->get_parameter("linear_min_acceleration").as_double();
+    odom_params_.linear_max_acceleration = node_->get_parameter("linear_max_acceleration").as_double();
   }
 
   auto linear_has_jerk_limits = node_->get_parameter("linear_has_jerk_limits");
@@ -200,8 +200,8 @@ CallbackReturn OmnidirectionalController::on_configure(
     odom_params_.linear_has_jerk_limits = linear_has_jerk_limits.as_bool();
   }
   if (odom_params_.linear_has_jerk_limits) {
-    odom_params_.linear_min_jerk = node_->get_parameter("min_jerk").as_double();
-    odom_params_.linear_max_jerk = node_->get_parameter("max_jerk").as_double();
+    odom_params_.linear_min_jerk = node_->get_parameter("linear_min_jerk").as_double();
+    odom_params_.linear_max_jerk = node_->get_parameter("linear_max_jerk").as_double();
   }