RateLimiter: Don't update parameters before input checks #437

[hjh059]

Fixed issue #437. I submitted two pull requests: one in the ros2_controllers repository and another in the control_toolbox repository.
The current PR resolves the following issues:

1. Modified the logic of RateLimiter::set_params to prevent the original parameters from being modified before an exception is thrown. This change allows exceptions thrown by set_params to be caught by the caller.

[christophfroehlich]

Thanks for your contribution. The change in logic is good, but do we really need all the tmp variables? The arguments are not const qualified, I think you can just override them?

[hjh059]

Thanks for your contribution. The change in logic is good, but do we really need all the tmp variables? The arguments are not const qualified, I think you can just override them?感谢您的贡献。逻辑上的变更很好，但我们真的需要所有这些临时变量吗？参数不是 const 修饰的，我认为您可以直接覆盖它们？

@christophfroehlich You're absolutely right — thank you for the careful review.
I've updated the implementation to address your suggestion and pushed the changes.

[codecov-commenter]

Codecov Report

❌ Patch coverage is 62.85714% with 13 lines in your changes missing coverage. Please review.
✅ Project coverage is 83.90%. Comparing base (91ef18a) to head (be681a0).

Files with missing lines	Patch %	Lines
...l_toolbox/include/control_toolbox/rate_limiter.hpp	62.85%	0 Missing and 13 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #554      +/-   ##
==========================================
+ Coverage   83.85%   83.90%   +0.04%     
==========================================
  Files          30       30              
  Lines        2094     2100       +6     
  Branches      112      112              
==========================================
+ Hits         1756     1762       +6     
  Misses        268      268              
  Partials       70       70              

Flag	Coverage Δ
unittests	83.90% <62.85%> (+0.04%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...l_toolbox/include/control_toolbox/rate_limiter.hpp	75.36% <62.85%> (+2.34%)	⬆️

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[christophfroehlich]

LGTM, thanks!
Btw: The failing jobs are not related to this PR.