Reformat yaml to have less diff

ros-controls · Jan 3, 2025 · 622e829 · 622e829
1 parent 44252a1
commit 622e829
Showing 1 changed file with 18 additions and 9 deletions.
diff --git a/steering_controllers_library/src/steering_controllers_library.yaml b/steering_controllers_library/src/steering_controllers_library.yaml
@@ -4,30 +4,28 @@ steering_controllers_library:
     default_value: 1.0,
     description: "Timeout for controller references after which they will be reset. This is especially useful for controllers that can cause unwanted and dangerous behavior if reference is not reset, e.g., velocity controllers. If value is 0 the reference is reset after each run.",
   }
+
   front_steering: {
     type: bool,
     read_only: true,
     default_value: true,
     description: "DEPRECATED: Use 'traction_joint_names' or 'steering_joint_names' instead"
   }
 
-  front_wheels_names: {
-    type: string_array,
-    read_only: true,
-    default_value: [],
-    description: "DEPRECATED: Use 'traction_joint_names' or 'steering_joint_names'"
-  }
-
   rear_wheels_names: {
     type: string_array,
+    description: "DEPRECATED: Use 'traction_joint_names' or 'steering_joint_names'",
     read_only: true,
     default_value: [],
-    description: "DEPRECATED: Use 'traction_joint_names' or 'steering_joint_names'"
+    validation: {
+      size_lt<>: [5],
+      unique<>: null,
+    }
   }
 
   traction_joints_names: {
     type: string_array,
-    description: "Names of wheel joints.",
+    description: "Names of traction wheel joints.",
     default_value: [],
     read_only: true,
     validation: {
@@ -38,6 +36,17 @@ steering_controllers_library:
     }
   }
 
+  front_wheels_names: {
+    type: string_array,
+    description: "DEPRECATED: Use 'traction_joint_names' or 'steering_joint_names'",
+    read_only: true,
+    default_value: [],
+    validation: {
+      size_lt<>: [5],
+      unique<>: null,
+    }
+  }
+
   steering_joints_names: {
     type: string_array,
     description: "Names of steering joints.",