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Fix Code Style On unique-params #2515

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Merged
rishiso merged 1 commit into from
Mar 9, 2026
Merged

Fix Code Style On unique-params #2515

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58 changes: 34 additions & 24 deletions src/rj_control/src/motion_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,8 +35,7 @@ MotionControl::MotionControl(int shell_id, rclcpp::Node* node)
drawer_(
node->create_publisher<rj_drawing_msgs::msg::DebugDraw>(viz::topics::kDebugDrawTopic, 10),
fmt::format("motion_control/{}", std::to_string(shell_id))) {

std::string param_prefix = fmt::format("robot_{}", std::to_string(shell_id_));
std::string param_prefix = fmt::format("robot_{}", std::to_string(shell_id_));

// populate params
// robot specific
Expand All @@ -46,7 +45,7 @@ MotionControl::MotionControl(int shell_id, rclcpp::Node* node)
node->get_parameter(param_prefix + ".rotation_kp", rotation_kp_);
node->get_parameter(param_prefix + ".rotation_ki", rotation_ki_);
node->get_parameter(param_prefix + ".rotation_kd", rotation_kd_);

// shared between robots
node->get_parameter("translation_windup", translation_windup_);
node->get_parameter("rotation_windup", rotation_windup_);
Expand All @@ -56,28 +55,39 @@ MotionControl::MotionControl(int shell_id, rclcpp::Node* node)

param_callback_handle_ = node->add_on_set_parameters_callback(
[this, param_prefix](const std::vector<rclcpp::Parameter>& params) {
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;

for (const auto& param : params) {
const auto& name = param.get_name();

if (name == param_prefix + ".translation_kp") translation_kp_ = param.as_double();
else if (name == param_prefix + ".translation_ki") translation_ki_ = param.as_double();
else if (name == param_prefix + ".translation_kd") translation_kd_ = param.as_double();
else if (name == param_prefix + ".rotation_kp") rotation_kp_ = param.as_double();
else if (name == param_prefix + ".rotation_ki") rotation_ki_ = param.as_double();
else if (name == param_prefix + ".rotation_kd") rotation_kd_ = param.as_double();
else if (name == "translation_windup") translation_windup_ = param.as_int();
else if (name == "rotation_windup") rotation_windup_ = param.as_int();
else if (name == "max_velocity") max_velocity_ = param.as_double();
else if (name == "max_acceleration") max_acceleration_ = param.as_double();
else if (name == "max_angular_velocity") max_angular_velocity_ = param.as_double();
}
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;

for (const auto& param : params) {
const auto& name = param.get_name();

if (name == param_prefix + ".translation_kp")
translation_kp_ = param.as_double();
else if (name == param_prefix + ".translation_ki")
translation_ki_ = param.as_double();
else if (name == param_prefix + ".translation_kd")
translation_kd_ = param.as_double();
else if (name == param_prefix + ".rotation_kp")
rotation_kp_ = param.as_double();
else if (name == param_prefix + ".rotation_ki")
rotation_ki_ = param.as_double();
else if (name == param_prefix + ".rotation_kd")
rotation_kd_ = param.as_double();
else if (name == "translation_windup")
translation_windup_ = param.as_int();
else if (name == "rotation_windup")
rotation_windup_ = param.as_int();
else if (name == "max_velocity")
max_velocity_ = param.as_double();
else if (name == "max_acceleration")
max_acceleration_ = param.as_double();
else if (name == "max_angular_velocity")
max_angular_velocity_ = param.as_double();
}

return result;
});

return result;
});

motion_setpoint_pub_ = node->create_publisher<MotionSetpoint::Msg>(
topics::motion_setpoint_topic(shell_id_), rclcpp::QoS(1));
target_state_pub_ = node->create_publisher<RobotState::Msg>(
Expand Down