Add custom validator excluding NaN values and update parameter descri…

…ption

include/control_filters/custom_validators.hpp

@@ -0,0 +1,58 @@
+// Copyright 2024 AIT - Austrian Institute of Technology GmbH
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef CONTROL_FILTERS__CUSTOM_VALIDATORS_HPP_
+#define CONTROL_FILTERS__CUSTOM_VALIDATORS_HPP_
+
+#include <fmt/core.h>
+
+#include <string>
+
+#include <rclcpp/rclcpp.hpp>
+#include <rsl/parameter_validators.hpp>
+#include <tl_expected/expected.hpp>
+
+namespace control_filters {
+
+/**
+ * @brief gt_eq, but check only if the value is not NaN
+ */
+template <typename T>
+tl::expected<void, std::string> gt_eq_or_nan(
+    rclcpp::Parameter const& parameter, T expected_value) {
+  auto param_value = parameter.as_double();
+  if (!std::isnan(param_value)) {
+    // check only if the value is not NaN
+    return rsl::gt_eq<T>(parameter, expected_value);
+  }
+  return {};
+}
+
+/**
+ * @brief lt_eq, but check only if the value is not NaN
+ */
+template <typename T>
+tl::expected<void, std::string> lt_eq_or_nan(
+    rclcpp::Parameter const& parameter, T expected_value) {
+  auto param_value = parameter.as_double();
+  if (!std::isnan(param_value)) {
+    // check only if the value is not NaN
+    return rsl::lt_eq<T>(parameter, expected_value);
+  }
+  return {};
+}
+
+}  // namespace control_filters
+
+#endif  // CONTROL_FILTERS__CUSTOM_VALIDATORS_HPP_

include/control_filters/rate_limiter.hpp

@@ -23,6 +23,7 @@
 #include "filters/filter_base.hpp"
 
 #include "control_toolbox/rate_limiter.hpp"
+#include "custom_validators.hpp"
 #include "rate_limiter_parameters.hpp"
 
 namespace control_filters

src/control_filters/rate_limiter_parameters.yaml

@@ -3,38 +3,70 @@ rate_limiter:
     type: double,
     description: "Sampling interval in seconds",
     validation: {
-      gt<>: [0.0]
+      gt<>: [0.0],
     },
   }
   max_value: {
     type: double,
     default_value: .NAN,
+    description: "Maximum value, e.g. [m/s]",
+    validation: {
+      "control_filters::gt_eq_or_nan<>": [0.0]
+    },
   }
   min_value: {
     type: double,
     default_value: .NAN,
+    description: "Minimum value, e.g. [m/s]",
+    validation: {
+      "control_filters::lt_eq_or_nan<>": [0.0]
+    },
   }
   max_first_derivative_pos: {
     type: double,
     default_value: .NAN,
+    description: "Maximum value of the first derivative if **value** is positive, e.g. [m/s^2]",
+    validation: {
+      "control_filters::gt_eq_or_nan<>": [0.0]
+    },
   }
   min_first_derivative_pos: {
     type: double,
     default_value: .NAN,
+    description: "Minimum value of the first derivative if **value** is positive, e.g. [m/s^2]",
+    validation: {
+      "control_filters::lt_eq_or_nan<>": [0.0]
+    },
   }
   max_first_derivative_neg: {
     type: double,
     default_value: .NAN,
+    description: "Maximum value of the first derivative if **value** is negative, e.g. [m/s^2]",
+    validation: {
+      "control_filters::gt_eq_or_nan<>": [0.0]
+    },
   }
   min_first_derivative_neg: {
     type: double,
     default_value: .NAN,
+    description: "Minimum value of the first derivative if **value** is negative, e.g. [m/s^2]",
+    validation: {
+      "control_filters::lt_eq_or_nan<>": [0.0]
+    },
   }
   max_second_derivative: {
     type: double,
     default_value: .NAN,
+    description: "Maximum value of the second derivative, e.g. [m/s^3]",
+    validation: {
+      "control_filters::gt_eq_or_nan<>": [0.0]
+    },
   }
   min_second_derivative: {
     type: double,
     default_value: .NAN,
+    description: "Minimum value of the second derivative, e.g. [m/s^3]",
+    validation: {
+      "control_filters::lt_eq_or_nan<>": [0.0]
+    },
   }