always allow unconfigured param changes

kroshu · Apr 30, 2024 · 48a83db · 48a83db
1 parent 554ac30
commit 48a83db
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Showing 5 changed files with 21 additions and 26 deletions.
diff --git a/kuka_drivers_core/README.md b/kuka_drivers_core/README.md
@@ -80,7 +80,7 @@ Improvements:
 - The parameter type is enforced automatically.
 - The registered callback has access over all of the registered parameters, therefore the parameter server and the node is always in sync
 - It is easy to register a callback for additional checks before requested parameter value is accepted.
-- The user can define the lifecycle states, in which parameter changes are allowed.
+- The user can define the lifecycle states, in which parameter changes are allowed using the `ParameterSetAccessRights` structure.
 - There is a different endpoint for static parameters, which cannot be changed after initialization.
 
 The `Parameter<T>` class supports the following parameter types (identical to the types supported by `rclcpp::Parameter`):
@@ -98,7 +98,7 @@ The `Parameter<T>` class supports the following parameter types (identical to th
 The nodes provide the `registerParameter()` and `registerStaticParameter()` endpoints with the following arguments:
  - `name` [std::string]: name of the parameter
  - `value` [T]: default value of the parameter
- - `rights` [ParameterAccessRights]: structure defining in which states is the setting of the parameter allowed (only for ROS2BaseLCNode)
+ - `rights` [ParameterSetAccessRights]: structure defining whether modifying the parameter value is allowed in `inactive` and `active` states (only for `ROS2BaseLCNode`, value changes are always allowed in `unconfigured` state)
  - `on_change_callback` [std::function<bool(const T &)>]: the callback to call when determining the validity of a parameter change request
 
 Both methods register a parameter with the given `name` and `type`, and the `on_change_callback` is called if a parameter change is requested to check validity. In case of the `registerStaticParameter()`, the callback always returns false after initializing the value.
@@ -107,8 +107,8 @@ Example code for registering an integer parameter for both base nodes (`onRateCh
 ```C++
   // For class derived from ROS2BaseLCNode
   registerParameter<int>(
-    "rate", 2, kuka_drivers_core::ParameterSetAccessRights {true, true,
-      false}, [this](int rate) {
+    "rate", 2, kuka_drivers_core::ParameterSetAccessRights {true, false},
+      [this](int rate) {
       return this->onRateChangeRequest(rate);
     });
 

diff --git a/kuka_drivers_core/include/kuka_drivers_core/parameter_handler.hpp b/kuka_drivers_core/include/kuka_drivers_core/parameter_handler.hpp
@@ -28,15 +28,14 @@ namespace kuka_drivers_core
 {
 struct ParameterSetAccessRights
 {
-  bool unconfigured;
   bool inactive;
   bool active;
   bool isSetAllowed(std::uint8_t current_state) const
   {
     switch (current_state)
     {
       case lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED:
-        return unconfigured;
+        return true;
       case lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE:
         return inactive;
       case lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE:

diff --git a/kuka_iiqka_eac_driver/src/robot_manager_node.cpp b/kuka_iiqka_eac_driver/src/robot_manager_node.cpp
@@ -59,38 +59,37 @@ RobotManagerNode::RobotManagerNode() : kuka_drivers_core::ROS2BaseLCNode("robot_
   // Register parameters
   this->registerParameter<std::string>(
     "position_controller_name", kuka_drivers_core::JOINT_TRAJECTORY_CONTROLLER,
-    kuka_drivers_core::ParameterSetAccessRights{true, true, false},
+    kuka_drivers_core::ParameterSetAccessRights{true, false},
     [this](const std::string & controller_name)
     {
       return this->controller_handler_.UpdateControllerName(
         kuka_drivers_core::ControllerType::JOINT_POSITION_CONTROLLER_TYPE, controller_name);
     });
   this->registerParameter<std::string>(
     "impedance_controller_name", "joint_group_impedance_controllers",
-    kuka_drivers_core::ParameterSetAccessRights{true, true, false},
+    kuka_drivers_core::ParameterSetAccessRights{true, false},
     [this](const std::string & controller_name)
     {
       return this->controller_handler_.UpdateControllerName(
         kuka_drivers_core::ControllerType::JOINT_IMPEDANCE_CONTROLLER_TYPE, controller_name);
     });
   this->registerParameter<std::string>(
     "torque_controller_name", "effort_controller",
-    kuka_drivers_core::ParameterSetAccessRights{true, true, false},
+    kuka_drivers_core::ParameterSetAccessRights{true, false},
     [this](const std::string & controller_name)
     {
       return this->controller_handler_.UpdateControllerName(
         kuka_drivers_core::ControllerType::TORQUE_CONTROLLER_TYPE, controller_name);
     });
   this->registerParameter<int>(
     "control_mode", static_cast<int>(kuka_drivers_core::ControlMode::JOINT_POSITION_CONTROL),
-    kuka_drivers_core::ParameterSetAccessRights{true, true, true},
+    kuka_drivers_core::ParameterSetAccessRights{true, true},
     [this](int control_mode) { return this->onControlModeChangeRequest(control_mode); });
   this->registerStaticParameter<std::string>(
-    "controller_ip", "", kuka_drivers_core::ParameterSetAccessRights{true, false, false},
+    "controller_ip", "", kuka_drivers_core::ParameterSetAccessRights{false, false},
     [this](const std::string &) { return true; });
   this->registerStaticParameter<std::string>(
-    "robot_model", "lbr_iisy3_r760",
-    kuka_drivers_core::ParameterSetAccessRights{true, false, false},
+    "robot_model", "lbr_iisy3_r760", kuka_drivers_core::ParameterSetAccessRights{false, false},
     [this](const std::string & robot_model)
     { return this->onRobotModelChangeRequest(robot_model); });
 }

diff --git a/kuka_kss_rsi_driver/src/robot_manager_node.cpp b/kuka_kss_rsi_driver/src/robot_manager_node.cpp
@@ -40,7 +40,7 @@ RobotManagerNode::RobotManagerNode() : kuka_drivers_core::ROS2BaseLCNode("robot_
     this->create_publisher<std_msgs::msg::Bool>("robot_manager/is_configured", is_configured_qos);
 
   this->registerStaticParameter<std::string>(
-    "robot_model", "kr6_r700_sixx", kuka_drivers_core::ParameterSetAccessRights{true, false, false},
+    "robot_model", "kr6_r700_sixx", kuka_drivers_core::ParameterSetAccessRights{false, false},
     [this](const std::string & robot_model)
     { return this->onRobotModelChangeRequest(robot_model); });
 }

diff --git a/kuka_sunrise_fri_driver/src/robot_manager_node.cpp b/kuka_sunrise_fri_driver/src/robot_manager_node.cpp
@@ -68,53 +68,51 @@ RobotManagerNode::RobotManagerNode() : kuka_drivers_core::ROS2BaseLCNode("robot_
     sub_options);
 
   registerStaticParameter<std::string>(
-    "robot_model", "lbr_iiwa14_r820",
-    kuka_drivers_core::ParameterSetAccessRights{true, false, false},
+    "robot_model", "lbr_iiwa14_r820", kuka_drivers_core::ParameterSetAccessRights{false, false},
     [this](const std::string & robot_model)
     { return this->onRobotModelChangeRequest(robot_model); });
 
   registerStaticParameter<std::string>(
-    "controller_ip", "", kuka_drivers_core::ParameterSetAccessRights{true, false, false},
+    "controller_ip", "", kuka_drivers_core::ParameterSetAccessRights{false, false},
     [this](const std::string & controller_ip) { return this->ValidateIPAdress(controller_ip); });
 
   registerParameter<int>(
-    "send_period_ms", 10, kuka_drivers_core::ParameterSetAccessRights{true, true, false},
+    "send_period_ms", 10, kuka_drivers_core::ParameterSetAccessRights{true, false},
     [this](const int & send_period) { return this->onSendPeriodChangeRequest(send_period); });
 
   registerParameter<int>(
-    "receive_multiplier", 1, kuka_drivers_core::ParameterSetAccessRights{true, true, false},
+    "receive_multiplier", 1, kuka_drivers_core::ParameterSetAccessRights{true, false},
     [this](const int & receive_multiplier)
     { return this->onReceiveMultiplierChangeRequest(receive_multiplier); });
 
   registerParameter<int>(
     "control_mode", static_cast<int>(kuka_drivers_core::ControlMode::JOINT_POSITION_CONTROL),
-    kuka_drivers_core::ParameterSetAccessRights{true, true, false},
+    kuka_drivers_core::ParameterSetAccessRights{true, false},
     [this](int control_mode) { return this->onControlModeChangeRequest(control_mode); });
 
   registerParameter<std::string>(
-    "position_controller_name", "", kuka_drivers_core::ParameterSetAccessRights{true, true, false},
+    "position_controller_name", "", kuka_drivers_core::ParameterSetAccessRights{true, false},
     [this](const std::string & controller_name)
     {
       return this->onControllerNameChangeRequest(
         controller_name, kuka_drivers_core::ControllerType::JOINT_POSITION_CONTROLLER_TYPE);
     });
 
   registerParameter<std::string>(
-    "torque_controller_name", "", kuka_drivers_core::ParameterSetAccessRights{true, true, false},
+    "torque_controller_name", "", kuka_drivers_core::ParameterSetAccessRights{true, false},
     [this](const std::string & controller_name)
     {
       return this->onControllerNameChangeRequest(
         controller_name, kuka_drivers_core::ControllerType::TORQUE_CONTROLLER_TYPE);
     });
 
   registerParameter<std::vector<double>>(
-    "joint_stiffness", joint_stiffness_,
-    kuka_drivers_core::ParameterSetAccessRights{true, true, false},
+    "joint_stiffness", joint_stiffness_, kuka_drivers_core::ParameterSetAccessRights{true, false},
     [this](const std::vector<double> & joint_stiffness)
     { return this->onJointStiffnessChangeRequest(joint_stiffness); });
 
   registerParameter<std::vector<double>>(
-    "joint_damping", joint_damping_, kuka_drivers_core::ParameterSetAccessRights{true, true, false},
+    "joint_damping", joint_damping_, kuka_drivers_core::ParameterSetAccessRights{true, false},
     [this](const std::vector<double> & joint_damping)
     { return this->onJointDampingChangeRequest(joint_damping); });
 }
@@ -376,7 +374,6 @@ bool RobotManagerNode::ValidateIPAdress(std::string_view controller_ip) const
   return true;
 }
 
-
 bool RobotManagerNode::onControllerNameChangeRequest(
   std::string_view controller_name, kuka_drivers_core::ControllerType controller_type)
 {