Added quotes for default values

Signed-off-by: kaspermeck-arm <[email protected]> Change-Id: Ib754b9400003c0871ee1dd9bda8db07215852a78
kaspermeck-arm · Aug 14, 2023 · 2ba3e08 · 2ba3e08
1 parent 72e3e66
commit 2ba3e08
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Showing 2 changed files with 16 additions and 14 deletions.
diff --git a/control/joy_controller/config/joy_controller.param.yaml b/control/joy_controller/config/joy_controller.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    joy_type: "DS4"
+    joy_type: DS4
     update_rate: 10.0
     accel_ratio: 3.0
     brake_ratio: 5.0

diff --git a/control/joy_controller/schema/joy_controller.schema.json b/control/joy_controller/schema/joy_controller.schema.json
@@ -15,65 +15,67 @@
         "update_rate": {
           "type": "number",
           "description": "Update rate to publish control commands",
-          "default": 10.0,
+          "default": "10.0",
           "exclusiveMinimum": 0
         },
         "accel_ratio": {
           "type": "number",
           "description": "Ratio to calculate acceleration (commanded acceleration is ratio * operation)",
-          "default": 3.0
+          "default": "3.0"
         },
         "brake_ratio": {
           "type": "number",
           "description": "Ratio to calculate deceleration (commanded acceleration is -ratio * operation)",
-          "default": 5.0
+          "default": "5.0"
         },
         "steer_ratio": {
           "type": "number",
           "description": "Ratio to calculate deceleration (commanded steer is ratio * operation)",
-          "default": 0.5
+          "default": "0.5"
         },
         "steering_angle_velocity": {
           "type": "number",
           "description": "Steering angle velocity for operation",
-          "default": 0.1
+          "default": "0.1"
         },
         "accel_sensitivity": {
           "type": "number",
           "description": "Sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))",
-          "default": 1.0,
-          "maximum": 1.0
+          "default": "1.0",
+          "maximum": 1.0,
+          "exclusiveMinimum": 0.0
         },
         "brake_sensitivity": {
           "type": "number",
           "description": "Sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))",
-          "default": 1.0,
-          "maximum": 1.0
+          "default": "1.0",
+          "maximum": 1.0,
+          "exclusiveMinimum": 0.0
         },
         "control_command": {
           "type": "object",
           "properties": {
             "velocity_gain": {
               "type": "number",
               "description": "Ratio to calculate velocity by acceleration",
-              "default": 3.0
+              "default": "3.0"
             },
             "max_forward_velocity": {
               "type": "number",
               "description": "Absolute max velocity to go forward",
-              "default": 20.0,
+              "default": "20.0",
               "minimum": 0
             },
             "max_backward_velocity": {
               "type": "number",
               "description": "Absolute max velocity to go backward",
-              "default": 3.0,
+              "default": "3.0",
               "minimum": 0
             },
             "backward_accel_ratio": {
               "type": "number",
               "description": "Ratio to calculate deceleration (commanded acceleration is -ratio * operation)",
-              "default": 1.0
+              "default": "1.0"
             }
           },
           "required": [