Add param sign assert

Signed-off-by: RBT22 <[email protected]>
ros-navigation · Jan 24, 2025 · d4f32d7 · d4f32d7
1 parent 09947ca
commit d4f32d7
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp
@@ -266,6 +266,11 @@ class DriveOnHeading : public TimedBehavior<ActionT>
     node->get_parameter(this->behavior_name_ + ".acceleration_limit", acceleration_limit_);
     node->get_parameter(this->behavior_name_ + ".deceleration_limit", deceleration_limit_);
     node->get_parameter(this->behavior_name_ + ".minimum_speed", minimum_speed_);
+    if (acceleration_limit_ < 0.0 || deceleration_limit_ > 0.0) {
+      RCLCPP_ERROR(this->logger_, "DriveOnHeading: acceleration_limit and deceleration_limit must be "
+        "positive and negative respectively");
+      throw std::runtime_error{"Invalid parameter: acceleration_limit or deceleration_limit"};
+    }
   }
 
   typename ActionT::Feedback::SharedPtr feedback_;