Use the custom validators directly from control_toolbox (#1504)

Author: christophfroehlich

diff_drive_controller/CMakeLists.txt

@@ -35,9 +35,11 @@ endforeach()
 add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
 add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
 
+# get include dirs from control_toolbox for the custom validators
+get_target_property(TB_INCLUDE_DIRS control_toolbox::rate_limiter_parameters INTERFACE_INCLUDE_DIRECTORIES)
 generate_parameter_library(diff_drive_controller_parameters
   src/diff_drive_controller_parameter.yaml
-  include/diff_drive_controller/custom_validators.hpp
+  ${TB_INCLUDE_DIRS}/control_toolbox/custom_validators.hpp
 )
 
 add_library(diff_drive_controller SHARED
@@ -51,7 +53,8 @@ target_include_directories(diff_drive_controller PUBLIC
 )
 target_link_libraries(diff_drive_controller
   PUBLIC
-    diff_drive_controller_parameters)
+    diff_drive_controller_parameters
+    control_toolbox::rate_limiter_parameters)
 ament_target_dependencies(diff_drive_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 pluginlib_export_plugin_description_file(controller_interface diff_drive_plugin.xml)
 

diff_drive_controller/include/diff_drive_controller/custom_validators.hpp

@@ -132,30 +132,30 @@ diff_drive_controller:
         type: double,
         default_value: .NAN,
         validation: {
-          "diff_drive_controller::gt_eq_or_nan<>": [0.0]
+          "control_filters::gt_eq_or_nan<>": [0.0]
         }
       }
       min_velocity: {
         type: double,
         default_value: .NAN,
         validation: {
-          "diff_drive_controller::lt_eq_or_nan<>": [0.0]
+          "control_filters::lt_eq_or_nan<>": [0.0]
         }
       }
       max_acceleration: {
         type: double,
         default_value: .NAN,
         description: "Maximum acceleration in forward direction.",
         validation: {
-          "diff_drive_controller::gt_eq_or_nan<>": [0.0]
+          "control_filters::gt_eq_or_nan<>": [0.0]
         }
       }
       max_deceleration: {
         type: double,
         default_value: .NAN,
         description: "Maximum deceleration in forward direction.",
         validation: {
-          "diff_drive_controller::lt_eq_or_nan<>": [0.0]
+          "control_filters::lt_eq_or_nan<>": [0.0]
         }
       }
       min_acceleration: {
@@ -168,29 +168,29 @@ diff_drive_controller:
         default_value: .NAN,
         description: "Maximum acceleration in reverse direction. If not set, -max_acceleration will be used.",
         validation: {
-          "diff_drive_controller::lt_eq_or_nan<>": [0.0]
+          "control_filters::lt_eq_or_nan<>": [0.0]
         }
       }
       max_deceleration_reverse: {
         type: double,
         default_value: .NAN,
         description: "Maximum deceleration in reverse direction. If not set, -max_deceleration will be used.",
         validation: {
-          "diff_drive_controller::gt_eq_or_nan<>": [0.0]
+          "control_filters::gt_eq_or_nan<>": [0.0]
         }
       }
       max_jerk: {
         type: double,
         default_value: .NAN,
         validation: {
-          "diff_drive_controller::gt_eq_or_nan<>": [0.0]
+          "control_filters::gt_eq_or_nan<>": [0.0]
         }
       }
       min_jerk: {
         type: double,
         default_value: .NAN,
         validation: {
-          "diff_drive_controller::lt_eq_or_nan<>": [0.0]
+          "control_filters::lt_eq_or_nan<>": [0.0]
         }
       }
   angular:
@@ -214,30 +214,30 @@ diff_drive_controller:
         type: double,
         default_value: .NAN,
         validation: {
-          "diff_drive_controller::gt_eq_or_nan<>": [0.0]
+          "control_filters::gt_eq_or_nan<>": [0.0]
         }
       }
       min_velocity: {
         type: double,
         default_value: .NAN,
         validation: {
-          "diff_drive_controller::lt_eq_or_nan<>": [0.0]
+          "control_filters::lt_eq_or_nan<>": [0.0]
         }
       }
       max_acceleration: {
         type: double,
         default_value: .NAN,
         description: "Maximum acceleration in positive direction.",
         validation: {
-          "diff_drive_controller::gt_eq_or_nan<>": [0.0]
+          "control_filters::gt_eq_or_nan<>": [0.0]
         }
       }
       max_deceleration: {
         type: double,
         default_value: .NAN,
         description: "Maximum deceleration in positive direction.",
         validation: {
-          "diff_drive_controller::lt_eq_or_nan<>": [0.0]
+          "control_filters::lt_eq_or_nan<>": [0.0]
         }
       }
       min_acceleration: {
@@ -250,28 +250,28 @@ diff_drive_controller:
         default_value: .NAN,
         description: "Maximum acceleration in negative direction. If not set, -max_acceleration will be used.",
         validation: {
-          "diff_drive_controller::lt_eq_or_nan<>": [0.0]
+          "control_filters::lt_eq_or_nan<>": [0.0]
         }
       }
       max_deceleration_reverse: {
         type: double,
         default_value: .NAN,
         description: "Maximum deceleration in negative direction. If not set, -max_deceleration will be used.",
         validation: {
-          "diff_drive_controller::gt_eq_or_nan<>": [0.0]
+          "control_filters::gt_eq_or_nan<>": [0.0]
         }
       }
       max_jerk: {
         type: double,
         default_value: .NAN,
         validation: {
-          "diff_drive_controller::gt_eq_or_nan<>": [0.0]
+          "control_filters::gt_eq_or_nan<>": [0.0]
         }
       }
       min_jerk: {
         type: double,
         default_value: .NAN,
         validation: {
-          "diff_drive_controller::lt_eq_or_nan<>": [0.0]
+          "control_filters::lt_eq_or_nan<>": [0.0]
         }
       }