From 28a1a8b8960f3354dbb028d64f31d503498abca8 Mon Sep 17 00:00:00 2001
From: Abishalini <abi.gpuram@gmail.com>
Date: Sun, 30 Oct 2022 16:09:52 -0600
Subject: [PATCH] Add validation for joint weight

---
 .../kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml   | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml
index cb4afc53243..b1558ed6cf6 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml
+++ b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml
@@ -10,6 +10,9 @@ kdl_kinematics:
       type: double,
       default_value: 1.0,
       description: "Joint weight",
+      validation: {
+        gt<>: [ 0.0 ]
+      }
     }
 
   max_solver_iterations: {