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Declare missing parameters for PID #443

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Merged
merged 4 commits into from
Aug 13, 2025
Merged

Declare missing parameters for PID #443

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dc76338
Declare parameters
christophfroehlich Aug 6, 2025
4577aef
Fix default value
christophfroehlich Aug 6, 2025
b448c36
Make default value of saturation ROS param dynamic
christophfroehlich Aug 6, 2025
0634ee9
Fix the tests
christophfroehlich Aug 13, 2025
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13 changes: 12 additions & 1 deletion control_toolbox/src/pid_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -274,9 +274,18 @@ bool PidROS::initialize_from_ros_parameters()
all_params_available &=
get_double_param(param_prefix_ + "tracking_time_constant", tracking_time_constant);

bool saturation = std::isfinite(u_max) || std::isfinite(u_min);
get_boolean_param(param_prefix_ + "saturation", saturation);
if (!saturation)
{
u_max = UMAX_INFINITY;
u_min = -UMAX_INFINITY;
}
get_boolean_param(param_prefix_ + "antiwindup", antiwindup);
get_string_param(param_prefix_ + "antiwindup_strategy", antiwindup_strat_str);
declare_param(param_prefix_ + "save_i_term", rclcpp::ParameterValue(false));
declare_param(
param_prefix_ + "activate_state_publisher", rclcpp::ParameterValue(rt_state_pub_ != nullptr));

if (all_params_available)
{
Expand Down Expand Up @@ -385,7 +394,9 @@ bool PidROS::initialize_from_args(
rclcpp::ParameterValue(antiwindup_strat.tracking_time_constant));
declare_param(
param_prefix_ + "error_deadband", rclcpp::ParameterValue(antiwindup_strat.error_deadband));
declare_param(param_prefix_ + "saturation", rclcpp::ParameterValue(true));
declare_param(
param_prefix_ + "saturation",
rclcpp::ParameterValue(std::isfinite(gains.u_max_) || std::isfinite(gains.u_min_)));
declare_param(
param_prefix_ + "antiwindup_strategy",
rclcpp::ParameterValue(gains.antiwindup_strat_.to_string()));
Expand Down
28 changes: 18 additions & 10 deletions control_toolbox/test/pid_ros_parameters_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -605,42 +605,50 @@ TEST(PidParametersTest, GetParametersTest)
TEST(PidParametersTest, GetParametersFromParams)
{
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("pid_parameters_test");

TestablePidROS pid(node, "", "", false);
const bool ACTIVATE_STATE_PUBLISHER = false;
TestablePidROS pid(node, "", "", ACTIVATE_STATE_PUBLISHER);

ASSERT_FALSE(pid.initialize_from_ros_parameters());

rclcpp::Parameter param_p;
ASSERT_TRUE(node->get_parameter("p", param_p));
ASSERT_TRUE(std::isnan(param_p.get_value<double>()));
EXPECT_TRUE(std::isnan(param_p.get_value<double>()));

rclcpp::Parameter param_i;
ASSERT_TRUE(node->get_parameter("i", param_i));
ASSERT_TRUE(std::isnan(param_i.get_value<double>()));
EXPECT_TRUE(std::isnan(param_i.get_value<double>()));

rclcpp::Parameter param_d;
ASSERT_TRUE(node->get_parameter("d", param_d));
ASSERT_TRUE(std::isnan(param_d.get_value<double>()));
EXPECT_TRUE(std::isnan(param_d.get_value<double>()));

rclcpp::Parameter param_i_clamp_max;
ASSERT_TRUE(node->get_parameter("i_clamp_max", param_i_clamp_max));
ASSERT_TRUE(std::isnan(param_i_clamp_max.get_value<double>()));
EXPECT_TRUE(std::isnan(param_i_clamp_max.get_value<double>()));

rclcpp::Parameter param_i_clamp_min;
ASSERT_TRUE(node->get_parameter("i_clamp_min", param_i_clamp_min));
ASSERT_TRUE(std::isnan(param_i_clamp_min.get_value<double>()));
EXPECT_TRUE(std::isnan(param_i_clamp_min.get_value<double>()));

rclcpp::Parameter param_u_clamp_max;
ASSERT_TRUE(node->get_parameter("u_clamp_max", param_u_clamp_max));
ASSERT_TRUE(std::isinf(param_u_clamp_max.get_value<double>()));
EXPECT_TRUE(std::isinf(param_u_clamp_max.get_value<double>()));

rclcpp::Parameter param_u_clamp_min;
ASSERT_TRUE(node->get_parameter("u_clamp_min", param_u_clamp_min));
ASSERT_TRUE(std::isinf(param_u_clamp_min.get_value<double>()));
EXPECT_TRUE(std::isinf(param_u_clamp_min.get_value<double>()));

rclcpp::Parameter param_saturation;
ASSERT_TRUE(node->get_parameter("saturation", param_saturation));
EXPECT_FALSE(param_saturation.get_value<bool>());

rclcpp::Parameter param_tracking_time_constant;
ASSERT_TRUE(node->get_parameter("tracking_time_constant", param_tracking_time_constant));
ASSERT_TRUE(std::isnan(param_tracking_time_constant.get_value<double>()));
EXPECT_TRUE(std::isnan(param_tracking_time_constant.get_value<double>()));

rclcpp::Parameter param_activate_state_publisher;
ASSERT_TRUE(node->get_parameter("activate_state_publisher", param_activate_state_publisher));
EXPECT_EQ(param_activate_state_publisher.get_value<bool>(), ACTIVATE_STATE_PUBLISHER);
}

TEST(PidParametersTest, MultiplePidInstances)
Expand Down
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