Small fixes of pid_controller for compilation.

ros-controls · Nov 29, 2022 · 5120bb3 · 5120bb3
1 parent c28a4c9
commit 5120bb3
Show file tree

Hide file tree

Showing 3 changed files with 10 additions and 10 deletions.
diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
@@ -16,6 +16,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   control_msgs
   controller_interface
   hardware_interface
+  parameter_traits
   pluginlib
   rclcpp
   rclcpp_lifecycle
@@ -117,7 +118,7 @@ ament_export_include_directories(
   include
 )
 ament_export_dependencies(
-
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 ament_export_libraries(
   pid_controller

diff --git a/pid_controller/package.xml b/pid_controller/package.xml
@@ -12,22 +12,15 @@
   <build_depend>generate_parameter_library</build_depend>
 
   <depend>control_msgs</depend>
-
   <depend>controller_interface</depend>
-
   <depend>hardware_interface</depend>
-
+  <depend>parameter_traits</depend>
   <depend>pluginlib</depend>
-
   <depend>rclcpp</depend>
-
   <depend>rclcpp_lifecycle</depend>
-
   <depend>realtime_tools</depend>
-
   <depend>std_srvs</depend>
 
-  <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
   <test_depend>hardware_interface</test_depend>

diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
@@ -136,12 +136,18 @@ controller_interface::CallbackReturn PidController::configure_parameters()
       std::make_shared<control_toolbox::PidROS>(get_node(), "gains." + params_.dof_names[i]);
     pids_[i]->initPid();
   }
+
+  return CallbackReturn::SUCCESS;
 }
 
 controller_interface::CallbackReturn PidController::on_configure(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
-  configure_parameters();
+  auto ret = configure_parameters();
+  if (ret != CallbackReturn::SUCCESS)
+  {
+    return ret;
+  }
 
   // topics QoS
   auto subscribers_qos = rclcpp::SystemDefaultsQoS();