Add parameter check for geometric values (backport #1120) (#1125)

ros-controls · May 22, 2024 · 2dabd0c · 2dabd0c
1 parent e094656
commit 2dabd0c
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Showing 8 changed files with 178 additions and 203 deletions.
diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.yaml b/ackermann_steering_controller/src/ackermann_steering_controller.yaml
@@ -5,6 +5,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Front wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   rear_wheel_track:
@@ -13,6 +16,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Rear wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   wheelbase:
@@ -21,6 +27,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Distance between front and rear wheels. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   front_wheels_radius:
@@ -29,6 +38,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Front wheels radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   rear_wheels_radius:
@@ -37,4 +49,7 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Rear wheels radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
diff --git a/bicycle_steering_controller/src/bicycle_steering_controller.yaml b/bicycle_steering_controller/src/bicycle_steering_controller.yaml
@@ -5,6 +5,9 @@ bicycle_steering_controller:
       default_value: 0.0,
       description: "Distance between front and rear wheel. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   front_wheel_radius:
@@ -13,6 +16,9 @@ bicycle_steering_controller:
       default_value: 0.0,
       description: "Front wheel radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   rear_wheel_radius:
@@ -21,4 +27,7 @@ bicycle_steering_controller:
       default_value: 0.0,
       description: "Rear wheel radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
@@ -53,8 +53,7 @@ if(BUILD_TESTING)
   find_package(ros2_control_test_assets REQUIRED)
 
   ament_add_gmock(test_diff_drive_controller
-    test/test_diff_drive_controller.cpp
-    ENV config_file=${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_diff_drive_controller.yaml)
+    test/test_diff_drive_controller.cpp)
   target_link_libraries(test_diff_drive_controller
     diff_drive_controller
   )
@@ -69,8 +68,9 @@ if(BUILD_TESTING)
     tf2_msgs
   )
 
-  ament_add_gmock(test_load_diff_drive_controller
+  add_rostest_with_parameters_gmock(test_load_diff_drive_controller
     test/test_load_diff_drive_controller.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_diff_drive_controller.yaml
   )
   ament_target_dependencies(test_load_diff_drive_controller
     controller_manager

diff --git a/diff_drive_controller/src/diff_drive_controller_parameter.yaml b/diff_drive_controller/src/diff_drive_controller_parameter.yaml
@@ -2,17 +2,26 @@ diff_drive_controller:
   left_wheel_names: {
     type: string_array,
     default_value: [],
-    description: "Link names of the left side wheels",
+    description: "Names of the left side wheels' joints",
+    validation: {
+      not_empty<>: []
+    }
   }
   right_wheel_names: {
     type: string_array,
     default_value: [],
-    description: "Link names of the right side wheels",
+    description: "Names of the right side wheels' joints",
+    validation: {
+      not_empty<>: []
+    }
   }
   wheel_separation: {
     type: double,
     default_value: 0.0,
     description: "Shortest distance between the left and right wheels. If this parameter is wrong, the robot will not behave correctly in curves.",
+    validation: {
+      gt<>: [0.0]
+    }
   }
   wheels_per_side: {
     type: int,
@@ -23,6 +32,9 @@ diff_drive_controller:
     type: double,
     default_value: 0.0,
     description: "Radius of a wheel, i.e., wheels size, used for transformation of linear velocity into wheel rotations. If this parameter is wrong the robot will move faster or slower then expected.",
+    validation: {
+      gt<>: [0.0]
+    }
   }
   wheel_separation_multiplier: {
     type: double,

diff --git a/diff_drive_controller/test/config/test_diff_drive_controller.yaml b/diff_drive_controller/test/config/test_diff_drive_controller.yaml
@@ -2,7 +2,6 @@ test_diff_drive_controller:
   ros__parameters:
     left_wheel_names: ["left_wheels"]
     right_wheel_names: ["right_wheels"]
-    write_op_modes: ["motor_controller"]
 
     wheel_separation: 0.40
     wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
@@ -21,7 +20,7 @@ test_diff_drive_controller:
     open_loop: true
     enable_odom_tf: true
 
-    cmd_vel_timeout: 500 # milliseconds
+    cmd_vel_timeout: 0.5 # seconds
     publish_limited_velocity: true
     velocity_rolling_window_size: 10