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Add parameter check for geometric values #1120

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merged 4 commits into from
May 9, 2024
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christophfroehlich
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Inspired by this post at RSE, I thought it could be a good idea to add simple checks to geometric values of the controllers for mobile robots. For example, wheel_radius wheel_base and others must not be zero ➡️ I added a gt<>: [0.0] validator for them. This also should help if a user misspelled or forgot these parameters.

@christophfroehlich christophfroehlich added the backport-humble This label should be used by maintaines only! Label triggers PR backport to ROS2 humble. label May 7, 2024
@christophfroehlich christophfroehlich added the backport-iron This label should be used by maintaines only! Label triggers PR backport to ROS2 Iron. label May 7, 2024
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@bmagyar bmagyar left a comment

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This is great, thanks!

@bmagyar bmagyar merged commit 7170328 into master May 9, 2024
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@bmagyar bmagyar deleted the mobile_ctrl_param_check branch May 9, 2024 09:07
mergify bot pushed a commit that referenced this pull request May 9, 2024
(cherry picked from commit 7170328)

# Conflicts:
#	diff_drive_controller/test/test_diff_drive_controller.cpp
#	tricycle_controller/src/tricycle_controller_parameter.yaml
#	tricycle_controller/test/test_tricycle_controller.cpp
mergify bot pushed a commit that referenced this pull request May 9, 2024
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