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Merged
merged 2 commits into from
May 26, 2023
Merged

[Parameters] Avoid deprecation warnings." #616

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1c0c5ca
Deprecations in generate_parameter_library.
destogl May 16, 2023
23c8e0b
Merge branch 'humble' into humble-remove-deprecation-warnings
bmagyar May 22, 2023
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48 changes: 28 additions & 20 deletions joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,16 @@
#define JOINT_TRAJECTORY_CONTROLLER__VALIDATE_JTC_PARAMETERS_HPP_

#include <string>
#include <vector>

#include "parameter_traits/parameter_traits.hpp"
#include "rsl/algorithm.hpp"
#include "tl_expected/expected.hpp"

namespace parameter_traits
{
Result command_interface_type_combinations(rclcpp::Parameter const & parameter)
tl::expected<void, std::string> command_interface_type_combinations(
rclcpp::Parameter const & parameter)
{
auto const & interface_types = parameter.as_string_array();

Expand All @@ -31,59 +35,63 @@ Result command_interface_type_combinations(rclcpp::Parameter const & parameter)
// 2. position [velocity, [acceleration]]

if (
contains<std::string>(interface_types, "velocity") && interface_types.size() > 1 &&
!contains<std::string>(interface_types, "position"))
rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
interface_types.size() > 1 &&
!rsl::contains<std::vector<std::string>>(interface_types, "position"))
{
return ERROR(
return tl::make_unexpected(
"'velocity' command interface can be used either alone or 'position' "
"interface has to be present");
}

if (
contains<std::string>(interface_types, "acceleration") &&
(!contains<std::string>(interface_types, "velocity") &&
!contains<std::string>(interface_types, "position")))
rsl::contains<std::vector<std::string>>(interface_types, "acceleration") &&
(!rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
!rsl::contains<std::vector<std::string>>(interface_types, "position")))
{
return ERROR(
return tl::make_unexpected(
"'acceleration' command interface can only be used if 'velocity' and "
"'position' interfaces are present");
}

if (contains<std::string>(interface_types, "effort") && interface_types.size() > 1)
if (
rsl::contains<std::vector<std::string>>(interface_types, "effort") &&
interface_types.size() > 1)
{
return ERROR("'effort' command interface has to be used alone");
return tl::make_unexpected("'effort' command interface has to be used alone");
}

return OK;
return {};
}

Result state_interface_type_combinations(rclcpp::Parameter const & parameter)
tl::expected<void, std::string> state_interface_type_combinations(
rclcpp::Parameter const & parameter)
{
auto const & interface_types = parameter.as_string_array();

// Valid combinations are
// 1. position [velocity, [acceleration]]

if (
contains<std::string>(interface_types, "velocity") &&
!contains<std::string>(interface_types, "position"))
rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
!rsl::contains<std::vector<std::string>>(interface_types, "position"))
{
return ERROR(
return tl::make_unexpected(
"'velocity' state interface cannot be used if 'position' interface "
"is missing.");
}

if (
contains<std::string>(interface_types, "acceleration") &&
(!contains<std::string>(interface_types, "position") ||
!contains<std::string>(interface_types, "velocity")))
rsl::contains<std::vector<std::string>>(interface_types, "acceleration") &&
(!rsl::contains<std::vector<std::string>>(interface_types, "position") ||
!rsl::contains<std::vector<std::string>>(interface_types, "velocity")))
{
return ERROR(
return tl::make_unexpected(
"'acceleration' state interface cannot be used if 'position' and 'velocity' "
"interfaces are not present.");
}

return OK;
return {};
}

} // namespace parameter_traits
Expand Down
6 changes: 3 additions & 3 deletions joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -55,15 +55,15 @@ joint_trajectory_controller:
default_value: 50.0,
description: "Rate controller state is published",
validation: {
lower_bounds: [0.1]
gt_eq: [0.1]
}
}
action_monitor_rate: {
type: double,
default_value: 20.0,
description: "Rate status changes will be monitored",
validation: {
lower_bounds: [0.1]
gt_eq: [0.1]
}
}
interpolation_method: {
Expand Down Expand Up @@ -117,7 +117,7 @@ joint_trajectory_controller:
default_value: 0.0,
description: "Time tolerance for achieving trajectory goal before or after commanded time.",
validation: {
lower_bounds: [0.0],
gt_eq: [0.0],
}
}
__map_joints:
Expand Down