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Fix joint_limits.yaml generating integer values for double parameters #3716

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Fix joint_limits.yaml generating integer values for double parameters #3716

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16 changes: 14 additions & 2 deletions moveit_setup_assistant/moveit_setup_framework/src/srdf_config.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@
#include <moveit_setup_framework/data_warehouse.hpp>
#include <moveit_setup_framework/utilities.hpp>
#include <moveit/rdf_loader/rdf_loader.hpp>
#include <sstream>

namespace moveit_setup
{
Expand Down Expand Up @@ -235,6 +236,17 @@ struct JointModelCompare

bool SRDFConfig::GeneratedJointLimits::writeYaml(YAML::Emitter& emitter)
{
// yaml-cpp serializes whole-number doubles (e.g. 1.0) as integers ("1"), which ROS 2 parameter
// loading rejects with "expected [double] got [integer]". Format them explicitly with a decimal point.
auto toDoubleString = [](double val) -> std::string {
std::ostringstream ss;
ss << val;
std::string s = ss.str();
if (s.find('.') == std::string::npos)
s += ".0";
return s;
};

emitter << YAML::Comment("joint_limits.yaml allows the dynamics properties specified in the URDF "
"to be overwritten or augmented as needed");
emitter << YAML::Newline;
Expand Down Expand Up @@ -300,7 +312,7 @@ bool SRDFConfig::GeneratedJointLimits::writeYaml(YAML::Emitter& emitter)

// Output property
emitter << YAML::Key << "max_velocity";
emitter << YAML::Value << static_cast<double>(std::min(fabs(b.max_velocity_), fabs(b.min_velocity_)));
emitter << YAML::Value << toDoubleString(std::min(fabs(b.max_velocity_), fabs(b.min_velocity_)));

// Output property
emitter << YAML::Key << "has_acceleration_limits";
Expand All @@ -315,7 +327,7 @@ bool SRDFConfig::GeneratedJointLimits::writeYaml(YAML::Emitter& emitter)

// Output property
emitter << YAML::Key << "max_acceleration";
emitter << YAML::Value << static_cast<double>(std::min(fabs(b.max_acceleration_), fabs(b.min_acceleration_)));
emitter << YAML::Value << toDoubleString(std::min(fabs(b.max_acceleration_), fabs(b.min_acceleration_)));

emitter << YAML::EndMap;
}
Expand Down
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