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 b1558ed6cf6..fbc1ebf1a94 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml
+++ b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml
@@ -19,14 +19,18 @@ kdl_kinematics:
     type: int,
     default_value: 500,
     description: "Maximum solver iterations",
-    # validation:
+    validation: {
+      gt_eq<>: [ 0.0 ]
+    }
   }
 
   epsilon: {
     type: double,
     default_value: 0.00001,
     description: "Epsilon. Default is 1e-5",
-    # validation:
+    validation: {
+      gt<>: [ 0.0 ]
+    }
   }
 
   orientation_vs_position: {
@@ -36,12 +40,13 @@ kdl_kinematics:
                   * < 1.0: orientation has less importance than position
                   * > 1.0: orientation has more importance than position
                   * = 0.0: perform position-only IK",
-    # validation:
+    validation: {
+      gt_eq<>: [ 0.0 ]
+    }
   }
 
   position_only_ik: {
     type: bool,
     default_value: false,
     description: "position_only_ik overrules orientation_vs_position. If true, sets orientation_vs_position weight to 0.0",
-    # validation:
   }