Keep old tricycle parameters

ros-controls · Jan 3, 2025 · 44252a1 · 44252a1
1 parent 76962b5
commit 44252a1
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/tricycle_steering_controller/src/tricycle_steering_controller.cpp b/tricycle_steering_controller/src/tricycle_steering_controller.cpp
@@ -30,20 +30,20 @@ controller_interface::CallbackReturn TricycleSteeringController::configure_odome
 {
   tricycle_params_ = tricycle_param_listener_->get_params();
 
-  if (tricycle_params_.front_wheel_radius > 0.0)
+  if (tricycle_params_.front_wheels_radius > 0.0)
   {
     RCLCPP_WARN(
       get_node()->get_logger(),
       "DEPRECATED parameter 'front_wheel_radius', set 'traction_wheels_radius' instead");
-    tricycle_params_.traction_wheels_radius = tricycle_params_.front_wheel_radius;
+    tricycle_params_.traction_wheels_radius = tricycle_params_.front_wheels_radius;
   }
 
-  if (tricycle_params_.rear_wheel_radius > 0.0)
+  if (tricycle_params_.rear_wheels_radius > 0.0)
   {
     RCLCPP_WARN(
       get_node()->get_logger(),
       "DEPRECATED parameter 'rear_wheel_radius', set 'traction_wheels_radius' instead");
-    tricycle_params_.traction_wheels_radius = tricycle_params_.rear_wheel_radius;
+    tricycle_params_.traction_wheels_radius = tricycle_params_.rear_wheels_radius;
   }
 
   const double traction_wheels_radius = tricycle_params_.traction_wheels_radius;

diff --git a/tricycle_steering_controller/src/tricycle_steering_controller.yaml b/tricycle_steering_controller/src/tricycle_steering_controller.yaml
@@ -33,15 +33,15 @@ tricycle_steering_controller:
       # }
     }
 
-  front_wheel_radius:
+  front_wheels_radius:
     {
       type: double,
       default_value: 0.0,
       description: "DEPRECATED: Use 'traction_wheels_radius'",
       read_only: false,
     }
 
-  rear_wheel_radius:
+  rear_wheels_radius:
     {
       type: double,
       default_value: 0.0,