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[JTC] Generate parameter library namespace #703

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Merged
merged 1 commit into from
Jul 16, 2023
Merged

[JTC] Generate parameter library namespace #703

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5 changes: 2 additions & 3 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 @@ -18,12 +18,11 @@
#include <string>
#include <vector>

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

namespace parameter_traits
namespace joint_trajectory_controller
{
tl::expected<void, std::string> command_interface_type_combinations(
rclcpp::Parameter const & parameter)
Expand Down Expand Up @@ -95,6 +94,6 @@ tl::expected<void, std::string> state_interface_type_combinations(
return {};
}

} // namespace parameter_traits
} // namespace joint_trajectory_controller

#endif // JOINT_TRAJECTORY_CONTROLLER__VALIDATE_JTC_PARAMETERS_HPP_
4 changes: 2 additions & 2 deletions joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
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Expand Up @@ -22,7 +22,7 @@ joint_trajectory_controller:
validation: {
unique<>: null,
subset_of<>: [["position", "velocity", "acceleration", "effort",]],
command_interface_type_combinations: null,
"joint_trajectory_controller::command_interface_type_combinations": null,
}
}
state_interfaces: {
Expand All @@ -32,7 +32,7 @@ joint_trajectory_controller:
validation: {
unique<>: null,
subset_of<>: [["position", "velocity", "acceleration",]],
state_interface_type_combinations: null,
"joint_trajectory_controller::state_interface_type_combinations": null,
}
}
allow_partial_joints_goal: {
Expand Down