Parameter type casts and typo fixes

husarion_ugv_lights/config/lights_controller_parameters.yaml

@@ -2,7 +2,7 @@ lights_controller:
   animations_config_path:
     type: string
     default_value: ""
-    description: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
+    description: Path to a YAML file with a description of LED configuration. This file includes definition of robot panels, virtual segments and default animations.
     validation: { not_empty<> }
 
   controller_frequency:

husarion_ugv_lights/src/lights_controller_node.cpp

@@ -56,7 +56,7 @@ LightsControllerNode::LightsControllerNode(const rclcpp::NodeOptions & options)
 
   const auto animations_config_path = this->params_.animations_config_path;
   const auto user_led_animations_path = this->params_.user_led_animations_path;
-  const float controller_freq = this->params_.controller_frequency;
+  const float controller_freq = static_cast<float>(this->params_.controller_frequency);
 
   YAML::Node led_config_desc = YAML::LoadFile(animations_config_path);
 

husarion_ugv_manager/config/lights_manager_parameters.yaml

@@ -10,51 +10,50 @@ lights_manager:
       critical:
         type: double
         default_value: 15.0
-        description: Time in seconds to wait before repeating animation, indicating a critical Battery state.
+        description: Time in seconds to wait before repeating animation, indicating a critical battery state.
         validation: { gt<>: 0.0 }
 
       low:
         type: double
         default_value: 30.0
-        description: Time in seconds to wait before repeating the animation, indicating a low Battery state.
+        description: Time in seconds to wait before repeating the animation, indicating a low battery state.
         validation: { gt<>: 0.0 }
 
     percent:
       window_len:
         type: int
         default_value: 6
-        description: Moving average window length used to smooth out Battery percentage readings.
+        description: Moving average window length used to smooth out battery percentage readings.
         validation: { gt<>: 0 }
 
       threshold:
         critical:
           type: double
           default_value: 0.1
-          description: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
+          description: If the battery percentage drops below this value, an animation indicating a critical battery state will start being displayed.
           validation: { bounds<>: [0.0, 1.0] }
 
         low:
           type: double
           default_value: 0.4
-          description: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
+          description: If the battery percentage drops below this value, the animation indicating a low battery state will start being displayed.
           validation: { bounds<>: [0.0, 1.0] }
 
   bt_project_path:
     type: string
     default_value: ""
     description: Path to a BehaviorTree project.
-    validation: { not_empty<> }
 
   plugin_libs:
     type: string_array
     default_value: []
-    description: List with names of plugins that are used in the BT project.
+    description: A list with names of plugins that are used in the BehaviorTree project.
 
   ros_communication_timeout:
     availability:
       type: double
       default_value: 1.0
-      description: Timeout in seconds to wait for a service/action while initializing BT node.
+      description: Timeout in seconds to wait for a service/action while initializing a BehaviorTree node.
       validation: { gt<>: 0.0 }
 
     response:
@@ -66,7 +65,7 @@ lights_manager:
   ros_plugin_libs:
     type: string_array
     default_value: []
-    description: List with names of ROS plugins that are used in a BT project.
+    description: A list with names of ROS plugins that are used in a BehaviorTree project.
 
   timer_frequency:
     type: double

husarion_ugv_manager/config/safety_manager_parameters.yaml

@@ -11,7 +11,6 @@ safety_manager:
     type: string
     default_value: ""
     description: Path to a BehaviorTree project.
-    validation: { not_empty<> }
 
   cpu:
     temp:
@@ -44,7 +43,7 @@ safety_manager:
       fan_on:
         type: double
         default_value: 45.0
-        description: Temperature in degrees Celsius* of any drivers above which the fan is turned on.
+        description: Temperature in degrees Celsius of any drivers above which the fan is turned on.
         validation: { bounds<>: [-20.0, 100.0] }
 
       window_len:
@@ -62,13 +61,13 @@ safety_manager:
   plugin_libs:
     type: string_array
     default_value: []
-    description: List with names of plugins that are used in the BT project.
+    description: A list with names of plugins that are used in the a BehaviorTree project.
 
   ros_communication_timeout:
     availability:
       type: double
       default_value: 1.0
-      description: Timeout seconds to wait for a service/action while initializing BT node.
+      description: Timeout seconds to wait for a service/action while initializing a BehaviorTree node.
       validation: { gt<>: 0.0 }
 
     response:
@@ -80,7 +79,7 @@ safety_manager:
   ros_plugin_libs:
     type: string_array
     default_value: []
-    description: List with names of ROS plugins that are used in a BT project.
+    description: A list with names of ROS plugins that are used in a BehaviorTree project.
 
   shutdown_hosts_path:
     type: string

husarion_ugv_manager/src/lights_manager_node.cpp

@@ -107,10 +107,11 @@ void LightsManagerNode::RegisterBehaviorTree()
 std::map<std::string, std::any> LightsManagerNode::CreateLightsInitialBlackboard()
 {
   update_charging_anim_step_ = this->params_.battery.charging_anim_step;
-  const float critical_battery_anim_period = this->params_.battery.anim_period.critical;
-  const float critical_battery_threshold_percent = this->params_.battery.percent.threshold.critical;
-  const float low_battery_anim_period = this->params_.battery.anim_period.low;
-  const float low_battery_threshold_percent = this->params_.battery.percent.threshold.low;
+  const double critical_battery_anim_period = this->params_.battery.anim_period.critical;
+  const double critical_battery_threshold_percent =
+    this->params_.battery.percent.threshold.critical;
+  const double low_battery_anim_period = this->params_.battery.anim_period.low;
+  const double low_battery_threshold_percent = this->params_.battery.percent.threshold.low;
 
   const std::string undefined_charging_anim_percent = "";
   const int undefined_anim_id = -1;

husarion_ugv_manager/src/safety_manager_node.cpp

@@ -98,7 +98,7 @@ void SafetyManagerNode::Initialize()
   //   Timers
   // -------------------------------
 
-  const float timer_freq = this->params_.timer_frequency;
+  const double timer_freq = this->params_.timer_frequency;
   const auto timer_period_ms =
     std::chrono::milliseconds(static_cast<unsigned>(1.0f / timer_freq * 1000));
 
@@ -134,11 +134,11 @@ void SafetyManagerNode::RegisterBehaviorTree()
 
 std::map<std::string, std::any> SafetyManagerNode::CreateSafetyInitialBlackboard()
 {
-  const float cpu_fan_on_temp = this->params_.cpu.temp.fan_on;
-  const float cpu_fan_off_temp = this->params_.cpu.temp.fan_off;
-  const float driver_fan_on_temp = this->params_.driver.temp.fan_on;
-  const float driver_fan_off_temp = this->params_.driver.temp.fan_off;
-  const float fan_turn_off_timeout = this->params_.fan_turn_off_timeout;
+  const double cpu_fan_on_temp = this->params_.cpu.temp.fan_on;
+  const double cpu_fan_off_temp = this->params_.cpu.temp.fan_off;
+  const double driver_fan_on_temp = this->params_.driver.temp.fan_on;
+  const double driver_fan_off_temp = this->params_.driver.temp.fan_off;
+  const double fan_turn_off_timeout = this->params_.fan_turn_off_timeout;
 
   const std::map<std::string, std::any> safety_initial_bb = {
     {"CPU_FAN_OFF_TEMP", cpu_fan_off_temp},