Add check also for steering controllers

ros-controls · May 7, 2024 · 665340d · 665340d
1 parent 8ca946c
commit 665340d
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Showing 3 changed files with 36 additions and 0 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/tricycle_steering_controller/src/tricycle_steering_controller.yaml b/tricycle_steering_controller/src/tricycle_steering_controller.yaml
@@ -5,6 +5,9 @@ tricycle_steering_controller:
       default_value: 0.0,
       description: "Wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   wheelbase:
@@ -13,6 +16,9 @@ tricycle_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:
@@ -21,6 +27,9 @@ tricycle_steering_controller:
       default_value: 0.0,
       description: "Front wheels radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   rear_wheels_radius:
@@ -29,4 +38,7 @@ tricycle_steering_controller:
       default_value: 0.0,
       description: "Rear wheels radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }