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Revert "[JTC] Remove read_only from 'joints', 'state_interfaces' and 'command_interfaces' parameters (#967)" (backport #978) #987

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Jan 26, 2024
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Revert "[JTC] Remove read_only from 'joints', 'state_interfaces' and 'command_interfaces' parameters (#967)" (backport #978) #987

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3 changes: 3 additions & 0 deletions joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@ joint_trajectory_controller:
type: string_array,
default_value: [],
description: "Names of joints used by the controller",
read_only: true,
validation: {
unique<>: null,
}
Expand All @@ -20,6 +21,7 @@ joint_trajectory_controller:
type: string_array,
default_value: [],
description: "Names of command interfaces to claim",
read_only: true,
validation: {
unique<>: null,
subset_of<>: [["position", "velocity", "acceleration", "effort",]],
Expand All @@ -30,6 +32,7 @@ joint_trajectory_controller:
type: string_array,
default_value: [],
description: "Names of state interfaces to claim",
read_only: true,
validation: {
unique<>: null,
subset_of<>: [["position", "velocity", "acceleration",]],
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