Rename save_iterm to save_i_term

ros-controls · Feb 13, 2025 · 4ab1e1a · 4ab1e1a
1 parent 25e415d
commit 4ab1e1a
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/doc/release_notes.rst b/doc/release_notes.rst
@@ -60,7 +60,7 @@ mecanum_drive_controller
 pid_controller
 ************************
 * 🚀 The PID controller was added 🎉 (`#434 <https://github.com/ros-controls/ros2_controllers/pull/434>`_).
-* Add ``save_iterm`` parameter to control retention of integral state after re-activation (`#1507 <https://github.com/ros-controls/ros2_controllers/pull/1507>`_).
+* Add ``save_i_term`` parameter to control retention of integral state after re-activation (`#1507 <https://github.com/ros-controls/ros2_controllers/pull/1507>`_).
 
 steering_controllers_library
 ********************************

diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
@@ -442,7 +442,7 @@ controller_interface::CallbackReturn PidController::on_activate(
   measured_state_values_.assign(
     measured_state_values_.size(), std::numeric_limits<double>::quiet_NaN());
 
-  // prefixed save_iterm parameter is read from ROS parameters
+  // prefixed save_i_term parameter is read from ROS parameters
   for (auto & pid : pids_)
   {
     pid->reset();

diff --git a/pid_controller/src/pid_controller.yaml b/pid_controller/src/pid_controller.yaml
@@ -89,7 +89,7 @@ pid_controller:
         description: "For joints that wrap around (i.e., are continuous).
           Normalizes position-error to -pi to pi."
       }
-      save_iterm: {
+      save_i_term: {
         type: bool,
         default_value: true,
         description: "Indicating if integral term is retained after re-activation"