Including Other Parameters in Validator Inputs

PickNikRobotics / generate_parameter_library

Declarative ROS 2 Parameters

BSD 3-Clause "New" or "Revised" License

231 stars 43 forks source link

Including Other Parameters in Validator Inputs #217

Open jcarpinelli-bdai opened 3 weeks ago

jcarpinelli-bdai commented 3 weeks ago

Is there any way to use other parameter values as inputs to custom validators? For example, say we have URDF and SRDF parameters, and we want to make sure they are consistent with one another in a custom validator.

robot_description_parameters:
  urdf: 
    type: string
  srdf:
    type: string
    validation:
      "robot_description_validators::srdf_compatible": [urdf]

pac48 commented 2 weeks ago

This would be a nice feature to have. It is not currently supported. I'd welcome a contribution if anyone has the time. I can not look into it in the short term. This would require changes to the code generator parser, syntax checking, and validation calls.