Fix gains validate

Author: ViktorCVS

control_toolbox/include/control_toolbox/pid.hpp

@@ -422,7 +422,7 @@ class Pid
 
     bool validate(std::string & error_msg) const
     {
-      if (u_min_ >= u_max_)  // is false if any value is nan
+      if (u_min_ > u_max_)  // is false if any value is nan
       {
         error_msg =
           fmt::format("Gains: u_min ({}) must be less than or equal to u_max ({})", u_min_, u_max_);

control_toolbox/test/pid_ros_parameters_tests.cpp

@@ -170,7 +170,7 @@ TEST(PidParametersTest, InitPidTestBadParameter)
   bool ret;
   ASSERT_NO_THROW(
     ret = pid.initialize_from_args(
-      P, I, D, TF U_MAX_BAD, U_MIN_BAD, ANTIWINDUP_STRAT, I_METHOD, D_METHOD, false));
+      P, I, D, TF, U_MAX_BAD, U_MIN_BAD, ANTIWINDUP_STRAT, I_METHOD, D_METHOD, false));
   ASSERT_FALSE(ret);
 
   rclcpp::Parameter param;
@@ -210,14 +210,14 @@ TEST(PidParametersTest, InitPidTestBadParameter)
   ANTIWINDUP_STRAT.i_min = 5.;
   ASSERT_NO_THROW(
     ret = pid.initialize_from_args(
-      P, I, D, TF U_MAX_BAD, U_MIN_BAD, ANTIWINDUP_STRAT, I_METHOD, D_METHOD, false));
+      P, I, D, TF, U_MAX_BAD, U_MIN_BAD, ANTIWINDUP_STRAT, I_METHOD, D_METHOD, false));
   ASSERT_FALSE(ret);
 
   ANTIWINDUP_STRAT.i_max = -5.;
   ANTIWINDUP_STRAT.i_min = 10.;
   ASSERT_NO_THROW(
     ret = pid.initialize_from_args(
-      P, I, D, TF U_MAX_BAD, U_MIN_BAD, ANTIWINDUP_STRAT, I_METHOD, D_METHOD, false));
+      P, I, D, TF, U_MAX_BAD, U_MIN_BAD, ANTIWINDUP_STRAT, I_METHOD, D_METHOD, false));
   ASSERT_FALSE(ret);
 }