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RateLimiter: Don't update parameters before input checks #437 #2074

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RateLimiter: Don't update parameters before input checks #437 #2074

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af96935
RateLimiter: Don't update parameters before input checks #437
hjh059 Dec 14, 2025
4ce8521
fixup! RateLimiter: Don't update parameters before input checks #437
hjh059 Dec 27, 2025
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37 changes: 26 additions & 11 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -344,17 +344,32 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
const int nr_ref_itfs = 2;
reference_interfaces_.resize(nr_ref_itfs, std::numeric_limits<double>::quiet_NaN());

limiter_linear_ = std::make_unique<SpeedLimiter>(
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_ = std::make_unique<SpeedLimiter>(
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);
try
{
limiter_linear_ = std::make_unique<SpeedLimiter>(
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);
}
catch (const std::invalid_argument & e)
{
RCLCPP_ERROR(logger, "Failed to configure linear speed limiter: %s", e.what());
return controller_interface::CallbackReturn::ERROR;
}
try
{
limiter_angular_ = std::make_unique<SpeedLimiter>(
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 configure angular speed limiter: %s", e.what());
return controller_interface::CallbackReturn::ERROR;
}

if (!reset())
{
Expand Down