Merge branch 'master' into feat/jtc_use_last_cmd_interface_value

ros-controls · Sep 11, 2024 · 5ae410a · 5ae410a
2 parents d6d1cc4 + 48a7f8b
commit 5ae410a
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 4 deletions.
diff --git a/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py b/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
@@ -37,7 +37,7 @@ def __init__(self):
         # Read all positions from parameters
         self.goals = []
         for name in goal_names:
-            self.declare_parameter(name)
+            self.declare_parameter(name, rclpy.Parameter.Type.DOUBLE_ARRAY)
             goal = self.get_parameter(name).value
             if goal is None or len(goal) == 0:
                 raise Exception(f'Values for goal "{name}" not set!')

diff --git a/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py b/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
@@ -18,7 +18,6 @@
 import rclpy
 from rclpy.node import Node
 from builtin_interfaces.msg import Duration
-from rcl_interfaces.msg import ParameterDescriptor
 
 from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
 from sensor_msgs.msg import JointState
@@ -67,8 +66,7 @@ def __init__(self):
         # Read all positions from parameters
         self.goals = []  # List of JointTrajectoryPoint
         for name in goal_names:
-            self.declare_parameter(name, descriptor=ParameterDescriptor(dynamic_typing=True))
-
+            self.declare_parameter(name, rclpy.Parameter.Type.DOUBLE_ARRAY)
             point = JointTrajectoryPoint()
 
             def get_sub_param(sub_param):