RateLimiter: Don't update parameters before input checks #437

[hjh059]

Fixes ros-controls/control_toolbox#437

I submitted two pull requests: one in the ros2_controllers repository and another in the control_toolbox repository.
The current PR addressed the following:

1. Evaluated which parameters should be modifiable while the controller is active
2. Handled exceptions that may be thrown by RateLimiter::set_params

[christophfroehlich]

If we set all parameters as read-only, there would not be the need for the changes in ros-controls/control_toolbox#554

I think that we could allow to change the limits during runtime as mentioned here and here. what do you think?

[hjh059]

@christophfroehlich Hello!
My apologies for the late reply - I should have responded sooner.

Thanks for your feedback! You're absolutely right. I've reconsidered the approach and have now removed the read-only restriction on parameters as you suggested.

The changes are ready for your review. Thanks for your patience and the excellent suggestion.

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[codecov]

Codecov Report

❌ Patch coverage is 62.50000% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.16%. Comparing base (4ccff70) to head (cfa438a).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...iff_drive_controller/src/diff_drive_controller.cpp	62.50%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2074      +/-   ##
==========================================
- Coverage   85.19%   85.16%   -0.04%     
==========================================
  Files         154      154              
  Lines       15457    15463       +6     
  Branches     1334     1334              
==========================================
  Hits        13169    13169              
- Misses       1797     1803       +6     
  Partials      491      491              

Flag	Coverage Δ
unittests	85.16% <62.50%> (-0.04%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...iff_drive_controller/src/diff_drive_controller.cpp	79.52% <62.50%> (-1.45%)	⬇️

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[christophfroehlich]

This patch LGTM, but we still have to refactor the declaration of the other parameters