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Change all read_only parameters to false to avoid issues when using s… #973

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Change all read_only parameters to false to avoid issues when using s… #973

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10 changes: 5 additions & 5 deletions admittance_controller/src/admittance_controller_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,33 +2,33 @@ admittance_controller:
joints: {
type: string_array,
description: "Specifies which joints will be used by the controller. ",
read_only: true
read_only: false
}
command_joints: {
type: string_array,
default_value: [],
description: "(optional) Specifies the joints for writing into another controllers reference. This parameter is only relevant when chaining the output of this controller to the input of another controller.",
read_only: true
read_only: false
}
command_interfaces:
{
type: string_array,
description: "Specifies which command interfaces the controller will claim.",
read_only: true
read_only: false
}

state_interfaces:
{
type: string_array,
description: "Specifies which state interfaces the controller will claim.",
read_only: true
read_only: false
}

chainable_command_interfaces:
{
type: string_array,
description: "Specifies which reference interfaces the controller will export. Normally, the position and velocity are used.",
read_only: true
read_only: false
}

kinematics:
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8 changes: 4 additions & 4 deletions joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
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Expand Up @@ -11,7 +11,7 @@ joint_trajectory_controller:
type: string_array,
default_value: [],
description: "Names of the commanding joints used by the controller",
read_only: true,
read_only: false,
validation: {
unique<>: null,
}
Expand Down Expand Up @@ -45,7 +45,7 @@ joint_trajectory_controller:
type: bool,
default_value: false,
description: "Run the controller in open-loop, i.e., read hardware states only when starting controller. This is useful when robot is not exactly following the commanded trajectory.",
read_only: true,
read_only: false,
}
allow_integration_in_goal_trajectories: {
type: bool,
Expand All @@ -56,7 +56,7 @@ joint_trajectory_controller:
type: double,
default_value: 20.0,
description: "Rate status changes will be monitored",
read_only: true,
read_only: false,
validation: {
gt_eq: [0.1]
}
Expand All @@ -65,7 +65,7 @@ joint_trajectory_controller:
type: string,
default_value: "splines",
description: "The type of interpolation to use, if any",
read_only: true,
read_only: false,
validation: {
one_of<>: [["splines", "none"]],
}
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8 changes: 4 additions & 4 deletions pid_controller/src/pid_controller.yaml
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Expand Up @@ -3,7 +3,7 @@ pid_controller:
type: string_array,
default_value: [],
description: "Specifies dof_names or axes used by the controller. If 'reference_and_state_dof_names' parameter is defined, then only command dof names are defined with this parameter.",
read_only: true,
read_only: false,
validation: {
unique<>: null,
not_empty<>: null,
Expand All @@ -13,7 +13,7 @@ pid_controller:
type: string_array,
default_value: [],
description: "(optional) Specifies dof_names or axes for getting reference and reading states. This parameter is only relevant when state dof names are different then command dof names, i.e., when a following controller is used.",
read_only: true,
read_only: false,
validation: {
unique<>: null,
}
Expand All @@ -22,7 +22,7 @@ pid_controller:
type: string,
default_value: "",
description: "Name of the interface used by the controller for writing commands to the hardware.",
read_only: true,
read_only: false,
validation: {
not_empty<>: null,
}
Expand All @@ -31,7 +31,7 @@ pid_controller:
type: string_array,
default_value: [],
description: "Name of the interfaces used by the controller getting hardware states and reference commands. The second interface should be the derivative of the first.",
read_only: true,
read_only: false,
validation: {
not_empty<>: null,
size_lt<>: 3,
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10 changes: 5 additions & 5 deletions steering_controllers_library/src/steering_controllers_library.yaml
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Expand Up @@ -9,13 +9,13 @@ steering_controllers_library:
type: bool,
default_value: true,
description: "Is the steering on the front of the robot?",
read_only: true,
read_only: false,
}

rear_wheels_names: {
type: string_array,
description: "Names of rear wheel joints.",
read_only: true,
read_only: false,
validation: {
size_lt<>: [5],
unique<>: null,
Expand All @@ -26,7 +26,7 @@ steering_controllers_library:
front_wheels_names: {
type: string_array,
description: "Names of front wheel joints.",
read_only: true,
read_only: false,
validation: {
size_lt<>: [5],
unique<>: null,
Expand All @@ -38,7 +38,7 @@ steering_controllers_library:
type: string_array,
description: "(Optional) Names of rear wheel joints to read states from. If not set joint names from 'rear_wheels_names' will be used.",
default_value: [],
read_only: true,
read_only: false,
validation: {
size_lt<>: [5],
unique<>: null,
Expand All @@ -49,7 +49,7 @@ steering_controllers_library:
type: string_array,
description: "(Optional) Names of front wheel joints to read states from. If not set joint names from 'front_wheels_names' will be used.",
default_value: [],
read_only: true,
read_only: false,
validation: {
size_lt<>: [5],
unique<>: null,
Expand Down
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