Add check also for tricycle_controller

ros-controls · May 7, 2024 · 9b99062 · 9b99062
1 parent 665340d
commit 9b99062
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diff --git a/tricycle_controller/src/tricycle_controller_parameter.yaml b/tricycle_controller/src/tricycle_controller_parameter.yaml
@@ -19,11 +19,17 @@ tricycle_controller:
     type: double,
     default_value: 0.0,
     description: "Shortest distance between the front wheel and the rear axle. If this parameter is wrong, the robot will not behave correctly in curves.",
+    validation: {
+      gt<>: [0.0]
+    }
   }
   wheel_radius: {
     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]
+    }
   }
   odom_frame_id: {
     type: string,

diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp
@@ -164,6 +164,9 @@ class TestTricycleController : public ::testing::Test
       rclcpp::Parameter("traction_joint_name", rclcpp::ParameterValue(traction_joint_name_init)));
     parameter_overrides.push_back(
       rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name_init)));
+    // default parameters
+    parameter_overrides.push_back(rclcpp::Parameter("wheelbase", rclcpp::ParameterValue(1.)));
+    parameter_overrides.push_back(rclcpp::Parameter("wheel_radius", rclcpp::ParameterValue(0.1)));
 
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);