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feat(operation_mode_transition_manager): add guard to invalid parameter #2388

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merged 1 commit into from
Feb 10, 2023
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feat(operation_mode_transition_manager): add guard to invalid parameter #2388

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13 changes: 12 additions & 1 deletion control/operation_mode_transition_manager/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,12 +50,23 @@ OperationModeTransitionManager::OperationModeTransitionManager(const rclcpp::Nod
}

// initialize state
transition_timeout_ = declare_parameter<double>("transition_timeout");
current_mode_ = OperationMode::STOP;
transition_ = nullptr;
gate_operation_mode_.mode = OperationModeState::UNKNOWN;
gate_operation_mode_.is_in_transition = false;
control_mode_report_.mode = ControlModeReport::NO_COMMAND;
transition_timeout_ = declare_parameter<double>("transition_timeout");
{
// check `transition_timeout` value
const auto stable_duration = declare_parameter<double>("stable_check.duration");
const double TIMEOUT_MARGIN = 0.5;
if (transition_timeout_ < stable_duration + TIMEOUT_MARGIN) {
transition_timeout_ = stable_duration + TIMEOUT_MARGIN;
RCLCPP_WARN(
get_logger(), "`transition_timeout` must be somewhat larger than `stable_check.duration`");
RCLCPP_WARN_STREAM(get_logger(), "transition_timeout is set to " << transition_timeout_);
}
}

// modes
modes_[OperationMode::STOP] = std::make_unique<StopMode>();
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2 changes: 1 addition & 1 deletion control/operation_mode_transition_manager/src/state.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ AutonomousMode::AutonomousMode(rclcpp::Node * node)
// params for mode change completed
{
auto & p = stable_check_param_;
p.duration = node->declare_parameter<double>("stable_check.duration");
p.duration = node->get_parameter("stable_check.duration").as_double();
p.dist_threshold = node->declare_parameter<double>("stable_check.dist_threshold");
p.speed_upper_threshold = node->declare_parameter<double>("stable_check.speed_upper_threshold");
p.speed_lower_threshold = node->declare_parameter<double>("stable_check.speed_lower_threshold");
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