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Drop yaml brackets for consistency and readability (#203)
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* Drop yaml brackets for consistency and readability
---------

Co-authored-by: Christoph Fröhlich <[email protected]>
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@Timple @christophfroehlich
Timple and christophfroehlich authored Jun 4, 2024
1 parent d50b473 commit 88e7f79
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121 changes: 51 additions & 70 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -22,30 +22,24 @@ Write a yaml file to declare your parameters and their attributes.
```yaml
turtlesim:
background:
r: {
type: int,
default_value: 0,
description: "Red color value for the background, 8-bit",
validation: {
r:
type: int
default_value: 0
description: "Red color value for the background, 8-bit"
validation:
bounds<>: [0, 255]
}
}
g: {
type: int,
default_value: 0,
description: "Green color value for the background, 8-bit",
validation: {
g:
type: int
default_value: 0
description: "Green color value for the background, 8-bit"
validation:
bounds<>: [0, 255]
}
}
b: {
type: int,
default_value: 0,
description: "Blue color value for the background, 8-bit",
validation: {
b:
type: int
default_value: 0
description: "Blue color value for the background, 8-bit"
validation:
bounds<>: [0, 255]
}
}
```
### Add parameter library generation to project
Expand Down Expand Up @@ -177,14 +171,13 @@ A leaf represents a single parameter and has the following format.

```yaml
cpp_namespace:
param_name: {
type: int,
default_value: 3,
read_only: true,
description: "A read-only integer parameter with a default value of 3",
param_name:
type: int
default_value: 3
read_only: true
description: "A read-only integer parameter with a default value of 3"
validation:
# validation functions ...
}
```

A parameter is a YAML dictionary with the only required key being `type`.
Expand Down Expand Up @@ -226,15 +219,13 @@ If the function does not take any values you write `null` or `[]` to for the val

```yaml
joint_trajectory_controller:
command_interfaces: {
type: string_array,
description: "Names of command interfaces to claim",
validation: {
size_gt<>: [0],
unique<>: null,
subset_of<>: [["position", "velocity", "acceleration", "effort",]],
}
}
command_interfaces:
type: string_array
description: "Names of command interfaces to claim"
validation:
size_gt<>: [0]
unique<>: null
subset_of<>: [["position", "velocity", "acceleration", "effort",]]
```
Above are validations for `command_interfaces` from `ros2_controllers`.
Expand Down Expand Up @@ -299,9 +290,8 @@ tl::expected<void, std::string> integer_equal_value(
int param_value = parameter.as_int();
if (param_value != expected_value) {
return tl::make_unexpected(fmt::format(
"Invalid value {} for parameter {}. Expected {}",
"Invalid value {} for parameter {}. Expected {}"
param_value, parameter.get_name(), expected_value);
}
return {};
}
Expand All @@ -310,9 +300,8 @@ tl::expected<void, std::string> integer_equal_value(
```
To configure a parameter to be validated with the custom validator function `integer_equal_value` with an `expected_value` of `3` you could would this to the YAML.
```yaml
validation: {
validation:
"my_project::integer_equal_value": [3]
}
```

### Nested structures
Expand All @@ -323,9 +312,8 @@ the same name as the key.
cpp_name_space:
nest1:
nest2:
param_name: { # this is a leaf
param_name: # this is a leaf
type: string_array
}
```

The generated parameter value can then be accessed with `params.nest1.nest2.param_name`
Expand All @@ -335,29 +323,25 @@ You can use parameter maps, where a map with keys from another `string_array` pa

```yaml
cpp_name_space:
joints: {
type: string_array,
default_value: ["joint1", "joint2", "joint3"],
description: "specifies which joints will be used by the controller",
}
interfaces: {
type: string_array,
default_value: ["position", "velocity", "acceleration"],
description: "interfaces to be used by the controller",
}
joints:
type: string_array
default_value: ["joint1", "joint2", "joint3"]
description: "specifies which joints will be used by the controller"
interfaces:
type: string_array
default_value: ["position", "velocity", "acceleration"]
description: "interfaces to be used by the controller"
# nested mapped example
gain:
__map_joints: # create a map with joints as keys
__map_interfaces: # create a map with interfaces as keys
value: {
value:
type: double
}
# simple mapped example
pid:
__map_joints: # create a map with joints as keys
values: {
values:
type: double_array
}
```

The generated parameter value for the nested map example can then be accessed with `params.gain.joints_map.at("joint1").interfaces_map.at("position").value`.
Expand Down Expand Up @@ -396,20 +380,17 @@ Example of declarative YAML

```yaml
force_torque_broadcaster_controller:
sensor_name: {
type: string,
default_value: "",
description: "Name of the sensor used as prefix for interfaces if there are no individual interface names defined.",
}
frame_id: {
type: string,
default_value: "",
description: "Sensor's frame_id in which values are published.",
}
sensor_filter_chain: {
type: none,
description: "Map of parameters that defines a filter chain, containing filterN as key and underlying map of parameters needed for a specific filter. See <some docs> for more details.",
}
sensor_name:
type: string
default_value: ""
description: "Name of the sensor used as prefix for interfaces if there are no individual interface names defined."
frame_id:
type: string
default_value: ""
description: "Sensor's frame_id in which values are published."
sensor_filter_chain:
type: none
description: "Map of parameters that defines a filter chain, containing filterN as key and underlying map of parameters needed for a specific filter. See <some docs> for more details."
```

Example of parameters for that controller
Expand Down
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