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Co-authored-by: Sai Kishor Kothakota <[email protected]>
ros-controls · Dec 6, 2024 · 89b4db3 · 89b4db3
1 parent 58b114c
commit 89b4db3
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Showing 2 changed files with 6 additions and 9 deletions.
diff --git a/diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp b/diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp
@@ -69,9 +69,6 @@ class SpeedLimiter
 
   /**
    * \brief Constructor
-   * \param [in] has_velocity_limits     if true, applies velocity limits
-   * \param [in] has_acceleration_limits if true, applies acceleration limits
-   * \param [in] has_jerk_limits         if true, applies jerk limits
    * \param [in] min_velocity Minimum velocity [m/s], usually <= 0
    * \param [in] max_velocity Maximum velocity [m/s], usually >= 0
    * \param [in] max_acceleration_reverse Maximum acceleration in reverse direction [m/s^2], usually

diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -310,15 +310,15 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
   {
     RCLCPP_WARN(
       logger,
-      "[deprecated] has_velocity_limits parameter is deprecated. Set the respective limits to NAN");
+      "[deprecated] has_velocity_limits parameter is deprecated, instead set the respective limits to NAN");
     params_.linear.x.min_velocity = params_.linear.x.max_velocity =
       std::numeric_limits<double>::quiet_NaN();
   }
   if (!params_.linear.x.has_acceleration_limits)
   {
     RCLCPP_WARN(
       logger,
-      "[deprecated] has_acceleration_limits parameter is deprecated. Set the respective limits to "
+      "[deprecated] has_acceleration_limits parameter is deprecated, instead set the respective limits to "
       "NAN");
     params_.linear.x.max_deceleration = params_.linear.x.max_acceleration =
       params_.linear.x.max_deceleration_reverse = params_.linear.x.max_acceleration_reverse =
@@ -328,23 +328,23 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
   {
     RCLCPP_WARN(
       logger,
-      "[deprecated] has_jerk_limits parameter is deprecated. Set the respective limits to NAN");
+      "[deprecated] has_jerk_limits parameter is deprecated, instead set the respective limits to NAN");
     params_.linear.x.min_jerk = params_.linear.x.max_jerk =
       std::numeric_limits<double>::quiet_NaN();
   }
   if (!params_.angular.z.has_velocity_limits)
   {
     RCLCPP_WARN(
       logger,
-      "[deprecated] has_velocity_limits parameter is deprecated. Set the respective limits to NAN");
+      "[deprecated] has_velocity_limits parameter is deprecated, instead set the respective limits to NAN");
     params_.angular.z.min_velocity = params_.angular.z.max_velocity =
       std::numeric_limits<double>::quiet_NaN();
   }
   if (!params_.angular.z.has_acceleration_limits)
   {
     RCLCPP_WARN(
       logger,
-      "[deprecated] has_acceleration_limits parameter is deprecated. Set the respective limits to "
+      "[deprecated] has_acceleration_limits parameter is deprecated, instead set the respective limits to "
       "NAN");
     params_.angular.z.max_deceleration = params_.angular.z.max_acceleration =
       params_.angular.z.max_deceleration_reverse = params_.angular.z.max_acceleration_reverse =
@@ -354,7 +354,7 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
   {
     RCLCPP_WARN(
       logger,
-      "[deprecated] has_jerk_limits parameter is deprecated. Set the respective limits to NAN");
+      "[deprecated] has_jerk_limits parameter is deprecated, instead set the respective limits to NAN");
     params_.angular.z.min_jerk = params_.angular.z.max_jerk =
       std::numeric_limits<double>::quiet_NaN();
   }