diff_drive_controller: set parameters as read_only

diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp

@@ -55,7 +55,33 @@ class SpeedLimiter
       min_velocity, max_velocity, max_acceleration_reverse, max_acceleration, max_deceleration,
       max_deceleration_reverse, min_jerk, max_jerk);
   }
-
+  /**
+   * \brief Update parameters at runtime
+   * \param [in] min_velocity Minimum velocity [m/s], usually <= 0
+   * \param [in] max_velocity Maximum velocity [m/s], usually >= 0
+   * \param [in] max_acceleration_reverse Maximum acceleration in reverse direction [m/s^2], usually
+   * <= 0
+   * \param [in] max_acceleration Maximum acceleration [m/s^2], usually >= 0
+   * \param [in] max_deceleration Maximum deceleration [m/s^2], usually <= 0
+   * \param [in] max_deceleration_reverse Maximum deceleration in reverse direction [m/s^2], usually
+   * >= 0
+   * \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0
+   * \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0
+   *
+   * \note
+   * If max_* values are NAN, the respective limit is deactivated
+   * If min_* values are NAN (unspecified), defaults to -max
+   * If min_first_derivative_pos/max_first_derivative_neg values are NAN, symmetric limits are used
+   */
+  void set_params(
+    double min_velocity, double max_velocity, double max_acceleration_reverse,
+    double max_acceleration, double max_deceleration, double max_deceleration_reverse,
+    double min_jerk, double max_jerk)
+  {
+    speed_limiter_.set_params(
+      min_velocity, max_velocity, max_acceleration_reverse, max_acceleration, max_deceleration,
+      max_deceleration_reverse, min_jerk, max_jerk);
+  }
   /**
    * \brief Limit the velocity, acceleration, and jerk
    * \param [in, out] v  Velocity [m/s]

diff_drive_controller/src/diff_drive_controller.cpp

@@ -147,6 +147,28 @@ controller_interface::return_type DiffDriveController::update_and_write_commands
 {
   auto logger = get_node()->get_logger();
 
+  if (param_listener_->try_update_params(params_))
+  {
+    cmd_vel_timeout_ = rclcpp::Duration::from_seconds(params_.cmd_vel_timeout);
+    try
+    {
+      limiter_linear_->set_params(
+        params_.linear.x.min_velocity, params_.linear.x.max_velocity,
+        params_.linear.x.max_acceleration_reverse, params_.linear.x.max_acceleration,
+        params_.linear.x.max_deceleration, params_.linear.x.max_deceleration_reverse,
+        params_.linear.x.min_jerk, params_.linear.x.max_jerk);
+      limiter_angular_->set_params(
+        params_.angular.z.min_velocity, params_.angular.z.max_velocity,
+        params_.angular.z.max_acceleration_reverse, params_.angular.z.max_acceleration,
+        params_.angular.z.max_deceleration, params_.angular.z.max_deceleration_reverse,
+        params_.angular.z.min_jerk, params_.angular.z.max_jerk);
+    }
+    catch (const std::invalid_argument & e)
+    {
+      RCLCPP_ERROR(logger, "Failed to update speed limiter parameters: %s", e.what());
+    }
+  }
+
   // command may be limited further by SpeedLimit,
   // without affecting the stored twist command
   double linear_command = reference_interfaces_[0];

diff_drive_controller/src/diff_drive_controller_parameter.yaml

@@ -3,6 +3,7 @@ diff_drive_controller:
     type: string_array,
     default_value: [],
     description: "Names of the left side wheels' joints",
+    read_only: true,
     validation: {
       not_empty<>: []
     }
@@ -11,6 +12,7 @@ diff_drive_controller:
     type: string_array,
     default_value: [],
     description: "Names of the right side wheels' joints",
+    read_only: true,
     validation: {
       not_empty<>: []
     }
@@ -19,6 +21,7 @@ diff_drive_controller:
     type: double,
     default_value: 0.0,
     description: "Shortest distance between the left and right wheels. If this parameter is wrong, the robot will not behave correctly in curves.",
+    read_only: true,
     validation: {
       gt<>: [0.0]
     }
@@ -27,6 +30,7 @@ diff_drive_controller:
     type: double,
     default_value: 0.0,
     description: "Radius of a wheel, i.e., wheels size, used for transformation of linear velocity into wheel rotations. If this parameter is wrong the robot will move faster or slower than expected.",
+    read_only: true,
     validation: {
       gt<>: [0.0]
     }
@@ -35,56 +39,67 @@ diff_drive_controller:
     type: double,
     default_value: 1.0,
     description: "Correction factor when the actual wheel separation differs from the nominal value in the ``wheel_separation`` parameter.",
+    read_only: true,
   }
   left_wheel_radius_multiplier: {
     type: double,
     default_value: 1.0,
     description: "Correction factor when radius of left wheels differs from the nominal value in ``wheel_radius`` parameter.",
+    read_only: true,
   }
   right_wheel_radius_multiplier: {
     type: double,
     default_value: 1.0,
     description: "Correction factor when radius of right wheels differs from the nominal value in ``wheel_radius`` parameter.",
+    read_only: true,
   }
   tf_frame_prefix_enable: {
     type: bool,
     default_value: true,
     description:  "Deprecated: this parameter will be removed in a future release. Use 'tf_frame_prefix' instead.",
+    read_only: true,
   }
   tf_frame_prefix: {
     type: string,
     default_value: "",
     description:  "(optional) Prefix to be appended to the tf frames, will be added to odom_id and base_frame_id before publishing. If the parameter is empty, controller's namespace will be used.",
+    read_only: true,
   }
   odom_frame_id: {
     type: string,
     default_value: "odom",
     description:  "Name of the frame for odometry. This frame is parent of ``base_frame_id`` when controller publishes odometry.",
+    read_only: true,
   }
   base_frame_id: {
     type: string,
     default_value: "base_link",
     description: "Name of the robot's base frame that is child of the odometry frame.",
+    read_only: true,
   }
   pose_covariance_diagonal: {
     type: double_array,
     default_value: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
     description: "Odometry covariance for the encoder output of the robot for the pose. These values should be tuned to your robot's sample odometry data, but these values are a good place to start: ``[0.001, 0.001, 0.001, 0.001, 0.001, 0.01]``.",
+    read_only: true,
   }
   twist_covariance_diagonal: {
     type: double_array,
     default_value: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
     description: "Odometry covariance for the encoder output of the robot for the speed. These values should be tuned to your robot's sample odometry data, but these values are a good place to start: ``[0.001, 0.001, 0.001, 0.001, 0.001, 0.01]``.",
+    read_only: true,
   }
   open_loop: {
     type: bool,
     default_value: false,
     description: "If set to true the odometry of the robot will be calculated from the commanded values and not from feedback.",
+    read_only: true,
   }
   position_feedback: {
     type: bool,
     default_value: true,
     description: "Is there position feedback from hardware.",
+    read_only: true,
   }
   enable_odom_tf: {
     type: bool,
@@ -105,12 +120,14 @@ diff_drive_controller:
     type: int,
     default_value: 10,
     description: "Size of the rolling window for calculation of mean velocity use in odometry.",
+    read_only: true,
   }
   # TODO(bhavin-umatiya): Remove this parameter as it is deprecated
   publish_rate: {
     type: double,
     default_value: 50.0, # Hz
     description: "Publishing rate (Hz) of the odometry and TF messages. This parameter is deprecated and will be removed in a future release.",
+    read_only: true,
   }
   linear:
     x: