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adding checks on config and dynamic parameters for proper velocity and acceleration limits #3731

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Aug 2, 2023
Merged

adding checks on config and dynamic parameters for proper velocity and acceleration limits #3731

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31 changes: 27 additions & 4 deletions nav2_velocity_smoother/src/velocity_smoother.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,11 +74,18 @@ VelocitySmoother::on_configure(const rclcpp_lifecycle::State &)
node->get_parameter("max_accel", max_accels_);
node->get_parameter("max_decel", max_decels_);

for (unsigned int i = 0; i != max_decels_.size(); i++) {
for (unsigned int i = 0; i != 3; i++) {
if (max_decels_[i] > 0.0) {
RCLCPP_WARN(
get_logger(),
"Positive values set of deceleration! These should be negative to slow down!");
throw std::runtime_error(
"Positive values set of deceleration! These should be negative to slow down!");
}
if (max_accels_[i] < 0.0) {
throw std::runtime_error(
"Negative values set of acceleration! These should be positive to speed up!");
}
if (min_velocities_[i] > max_velocities_[i]) {
throw std::runtime_error(
"Min velocities are higher than max velocities!");
}
}

Expand Down Expand Up @@ -358,8 +365,24 @@ VelocitySmoother::dynamicParametersCallback(std::vector<rclcpp::Parameter> param
} else if (name == "min_velocity") {
min_velocities_ = parameter.as_double_array();
} else if (name == "max_accel") {
for (unsigned int i = 0; i != 3; i++) {
if (parameter.as_double_array()[i] < 0.0) {
RCLCPP_WARN(
get_logger(),
"Negative values set of acceleration! These should be positive to speed up!");
result.successful = false;
}
}
max_accels_ = parameter.as_double_array();
} else if (name == "max_decel") {
for (unsigned int i = 0; i != 3; i++) {
if (parameter.as_double_array()[i] > 0.0) {
RCLCPP_WARN(
get_logger(),
"Positive values set of deceleration! These should be negative to slow down!");
result.successful = false;
}
}
max_decels_ = parameter.as_double_array();
} else if (name == "deadband_velocity") {
deadband_velocities_ = parameter.as_double_array();
Expand Down
34 changes: 34 additions & 0 deletions nav2_velocity_smoother/test/test_velocity_smoother.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -593,6 +593,28 @@ TEST(VelocitySmootherTest, testInvalidParams)
EXPECT_THROW(smoother->configure(state), std::runtime_error);
}

TEST(VelocitySmootherTest, testInvalidParamsAccelDecel)
{
auto smoother =
std::make_shared<VelSmootherShim>();

std::vector<double> bad_test_accel{-10.0, -10.0, -10.0};
std::vector<double> bad_test_decel{10.0, 10.0, 10.0};
std::vector<double> bad_test_min_vel{10.0, 10.0, 10.0};
std::vector<double> bad_test_max_vel{-10.0, -10.0, -10.0};

smoother->declare_parameter("max_velocity", rclcpp::ParameterValue(bad_test_max_vel));
smoother->declare_parameter("min_velocity", rclcpp::ParameterValue(bad_test_min_vel));
rclcpp_lifecycle::State state;
EXPECT_THROW(smoother->configure(state), std::runtime_error);

smoother->set_parameter(rclcpp::Parameter("max_accel", rclcpp::ParameterValue(bad_test_accel)));
EXPECT_THROW(smoother->configure(state), std::runtime_error);

smoother->set_parameter(rclcpp::Parameter("max_decel", rclcpp::ParameterValue(bad_test_decel)));
EXPECT_THROW(smoother->configure(state), std::runtime_error);
}

TEST(VelocitySmootherTest, testDynamicParameter)
{
auto smoother =
Expand All @@ -613,6 +635,8 @@ TEST(VelocitySmootherTest, testDynamicParameter)
std::vector<double> min_accel{0.0, 0.0, 0.0};
std::vector<double> deadband{0.0, 0.0, 0.0};
std::vector<double> bad_test{0.0, 0.0};
std::vector<double> bad_test_accel{-10.0, -10.0, -10.0};
std::vector<double> bad_test_decel{10.0, 10.0, 10.0};

auto results = rec_param->set_parameters_atomically(
{rclcpp::Parameter("smoothing_frequency", 100.0),
Expand Down Expand Up @@ -662,6 +686,16 @@ TEST(VelocitySmootherTest, testDynamicParameter)
rclcpp::spin_until_future_complete(smoother->get_node_base_interface(), results);
EXPECT_FALSE(results.get().successful);

// Test invalid accel / decel
results = rec_param->set_parameters_atomically(
{rclcpp::Parameter("max_accel", bad_test_accel)});
rclcpp::spin_until_future_complete(smoother->get_node_base_interface(), results);
EXPECT_FALSE(results.get().successful);
results = rec_param->set_parameters_atomically(
{rclcpp::Parameter("max_decel", bad_test_decel)});
rclcpp::spin_until_future_complete(smoother->get_node_base_interface(), results);
EXPECT_FALSE(results.get().successful);

// test full state after major changes
smoother->deactivate(state);
smoother->cleanup(state);
Expand Down