From 1c0c5cab12d8e33f3a7497f2b52281285a9e41ec Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <denis@stoglrobotics.de>
Date: Tue, 16 May 2023 09:00:18 +0200
Subject: [PATCH] Deprecations in generate_parameter_library.

---
 .../validate_jtc_parameters.hpp               | 48 +++++++++++--------
 ...oint_trajectory_controller_parameters.yaml |  6 +--
 2 files changed, 31 insertions(+), 23 deletions(-)

diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
index 09363eebb1..91c652013e 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
@@ -16,12 +16,16 @@
 #define JOINT_TRAJECTORY_CONTROLLER__VALIDATE_JTC_PARAMETERS_HPP_
 
 #include <string>
+#include <vector>
 
 #include "parameter_traits/parameter_traits.hpp"
+#include "rsl/algorithm.hpp"
+#include "tl_expected/expected.hpp"
 
 namespace parameter_traits
 {
-Result command_interface_type_combinations(rclcpp::Parameter const & parameter)
+tl::expected<void, std::string> command_interface_type_combinations(
+  rclcpp::Parameter const & parameter)
 {
   auto const & interface_types = parameter.as_string_array();
 
@@ -31,33 +35,37 @@ Result command_interface_type_combinations(rclcpp::Parameter const & parameter)
   // 2. position [velocity, [acceleration]]
 
   if (
-    contains<std::string>(interface_types, "velocity") && interface_types.size() > 1 &&
-    !contains<std::string>(interface_types, "position"))
+    rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
+    interface_types.size() > 1 &&
+    !rsl::contains<std::vector<std::string>>(interface_types, "position"))
   {
-    return ERROR(
+    return tl::make_unexpected(
       "'velocity' command interface can be used either alone or 'position' "
       "interface has to be present");
   }
 
   if (
-    contains<std::string>(interface_types, "acceleration") &&
-    (!contains<std::string>(interface_types, "velocity") &&
-     !contains<std::string>(interface_types, "position")))
+    rsl::contains<std::vector<std::string>>(interface_types, "acceleration") &&
+    (!rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
+     !rsl::contains<std::vector<std::string>>(interface_types, "position")))
   {
-    return ERROR(
+    return tl::make_unexpected(
       "'acceleration' command interface can only be used if 'velocity' and "
       "'position' interfaces are present");
   }
 
-  if (contains<std::string>(interface_types, "effort") && interface_types.size() > 1)
+  if (
+    rsl::contains<std::vector<std::string>>(interface_types, "effort") &&
+    interface_types.size() > 1)
   {
-    return ERROR("'effort' command interface has to be used alone");
+    return tl::make_unexpected("'effort' command interface has to be used alone");
   }
 
-  return OK;
+  return {};
 }
 
-Result state_interface_type_combinations(rclcpp::Parameter const & parameter)
+tl::expected<void, std::string> state_interface_type_combinations(
+  rclcpp::Parameter const & parameter)
 {
   auto const & interface_types = parameter.as_string_array();
 
@@ -65,25 +73,25 @@ Result state_interface_type_combinations(rclcpp::Parameter const & parameter)
   // 1. position [velocity, [acceleration]]
 
   if (
-    contains<std::string>(interface_types, "velocity") &&
-    !contains<std::string>(interface_types, "position"))
+    rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
+    !rsl::contains<std::vector<std::string>>(interface_types, "position"))
   {
-    return ERROR(
+    return tl::make_unexpected(
       "'velocity' state interface cannot be used if 'position' interface "
       "is missing.");
   }
 
   if (
-    contains<std::string>(interface_types, "acceleration") &&
-    (!contains<std::string>(interface_types, "position") ||
-     !contains<std::string>(interface_types, "velocity")))
+    rsl::contains<std::vector<std::string>>(interface_types, "acceleration") &&
+    (!rsl::contains<std::vector<std::string>>(interface_types, "position") ||
+     !rsl::contains<std::vector<std::string>>(interface_types, "velocity")))
   {
-    return ERROR(
+    return tl::make_unexpected(
       "'acceleration' state interface cannot be used if 'position' and 'velocity' "
       "interfaces are not present.");
   }
 
-  return OK;
+  return {};
 }
 
 }  // namespace parameter_traits
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
index f767b15b27..e710b33d07 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
+++ b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -55,7 +55,7 @@ joint_trajectory_controller:
     default_value: 50.0,
     description: "Rate controller state is published",
     validation: {
-      lower_bounds: [0.1]
+      gt_eq: [0.1]
     }
   }
   action_monitor_rate: {
@@ -63,7 +63,7 @@ joint_trajectory_controller:
     default_value: 20.0,
     description: "Rate status changes will be monitored",
     validation: {
-      lower_bounds: [0.1]
+      gt_eq: [0.1]
     }
   }
   interpolation_method: {
@@ -117,7 +117,7 @@ joint_trajectory_controller:
       default_value: 0.0,
       description: "Time tolerance for achieving trajectory goal before or after commanded time.",
       validation: {
-        lower_bounds: [0.0],
+        gt_eq: [0.0],
       }
     }
     __map_joints: