From 5285ff576cef3e9e02846851e7ef648cabd748be Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 30 Mar 2026 13:34:58 +0000
Subject: [PATCH 1/9] Fail at build time with conflicting element bounds

---
 .../parse_yaml.py                             | 22 +++++++++++++++++++
 .../test/YAML_parse_error_test.py             |  1 +
 .../test/conflicting_element_bounds.yaml      |  8 +++++++
 3 files changed, 31 insertions(+)
 create mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_element_bounds.yaml

diff --git a/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py b/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
index ed00d29..d46a40c 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
+++ b/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
@@ -98,6 +98,26 @@ def int_to_integer_str(value: str):
     return value.replace('int', 'integer')
 
 
+@typechecked
+def validation_base_name(function_name: str):
+    return function_name.replace('<>', '')
+
+
+@typechecked
+def validate_validator_combinations(param_name: str, validations_dict: dict):
+    validation_names = {validation_base_name(name) for name in validations_dict}
+
+    if {
+        'lower_element_bounds',
+        'upper_element_bounds',
+    }.issubset(validation_names):
+        raise compile_error(
+            "Parameter {} cannot combine 'lower_element_bounds' and "
+            "'upper_element_bounds'. Use 'element_bounds' instead so the "
+            'generator emits a single ROS descriptor range.'.format(param_name)
+        )
+
+
 def get_dynamic_parameter_field(yaml_parameter_name: str):
     tmp = yaml_parameter_name.split('.')
     num_nested = [i for i, val in enumerate(tmp) if is_mapped_parameter(val)]
@@ -745,6 +765,8 @@ def preprocess_inputs(language, name, value, nested_name_list):
     if is_fixed_type(defined_type):
         validations_dict['size_lt<>'] = fixed_type_size(defined_type) + 1
 
+    validate_validator_combinations(param_name, validations_dict)
+
     for func_name in validations_dict:
         args = validations_dict[func_name]
         if args is not None and not isinstance(args, list):
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py b/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
index eb524b7..a173cd2 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
@@ -74,6 +74,7 @@ def set_up(yaml_test_file):
             'missing_type.yaml',
             'invalid_syntax.yaml',
             'invalid_parameter_type.yaml',
+            'conflicting_element_bounds.yaml',
         ]
     ],
 )
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_element_bounds.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_element_bounds.yaml
new file mode 100644
index 0000000..51cbf72
--- /dev/null
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_element_bounds.yaml
@@ -0,0 +1,8 @@
+admittance_controller:
+  acceleration_limits:
+    type: double_array
+    description: "specifies maximum acceleration limits for x, y and z axis"
+    validation:
+      fixed_size<>: 3
+      lower_element_bounds<>: -10.0
+      upper_element_bounds<>: 10.0

From 9567b9fc083d2a97861d2cd9a0264e3db2f64ff2 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 30 Mar 2026 13:47:21 +0000
Subject: [PATCH 2/9] Fail at build time with conflicting scalar bounds

---
 .../parse_yaml.py                             | 12 +++++++
 .../test/YAML_parse_error_test.py             |  1 +
 .../test/conflicting_scalar_bounds.yaml       | 32 +++++++++++++++++++
 3 files changed, 45 insertions(+)
 create mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds.yaml

diff --git a/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py b/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
index d46a40c..c3bf86a 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
+++ b/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
@@ -117,6 +117,18 @@ def validate_validator_combinations(param_name: str, validations_dict: dict):
             'generator emits a single ROS descriptor range.'.format(param_name)
         )
 
+    scalar_lower_bounds = {'gt', 'gt_eq'}
+    scalar_upper_bounds = {'lt', 'lt_eq'}
+    if validation_names.intersection(
+        scalar_lower_bounds
+    ) and validation_names.intersection(scalar_upper_bounds):
+        raise compile_error(
+            'Parameter {} cannot combine lower and upper scalar bound validators '
+            '(gt/gt_eq with lt/lt_eq). '
+            "Use 'bounds<>' for inclusive ranges or a custom validator for "
+            'exclusive/mixed bounds.'.format(param_name)
+        )
+
 
 def get_dynamic_parameter_field(yaml_parameter_name: str):
     tmp = yaml_parameter_name.split('.')
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py b/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
index a173cd2..163086a 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
@@ -75,6 +75,7 @@ def set_up(yaml_test_file):
             'invalid_syntax.yaml',
             'invalid_parameter_type.yaml',
             'conflicting_element_bounds.yaml',
+            'conflicting_scalar_bounds.yaml',
         ]
     ],
 )
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds.yaml
new file mode 100644
index 0000000..742e76c
--- /dev/null
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds.yaml
@@ -0,0 +1,32 @@
+admittance_controller:
+  conflicting_inclusive_bounds:
+    type: int
+    default_value: 16
+    description: "should be a number between 10 and 20"
+    validation:
+      gt_eq<>: [ 10 ]
+      lt_eq<>: [ 20 ]
+
+  conflicting_exclusive_bounds:
+    type: int
+    default_value: 16
+    description: "should be a number between 10 and 20"
+    validation:
+      gt<>: [ 10 ]
+      lt<>: [ 20 ]
+
+  conflicting_mixed_bounds_1:
+    type: int
+    default_value: 16
+    description: "should be a number between 10 and 20"
+    validation:
+      gt_eq<>: [ 10 ]
+      lt<>: [ 20 ]
+
+  conflicting_mixed_bounds_2:
+    type: int
+    default_value: 16
+    description: "should be a number between 10 and 20"
+    validation:
+      gt<>: [ 10 ]
+      lt_eq<>: [ 20 ]

From 40936f8a0bf89ac38c145d54a3757890f85d0271 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 30 Mar 2026 17:16:07 +0000
Subject: [PATCH 3/9] Install test yamls

---
 generate_parameter_library_py/setup.py | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/generate_parameter_library_py/setup.py b/generate_parameter_library_py/setup.py
index 1a9b4b8..4c275c8 100644
--- a/generate_parameter_library_py/setup.py
+++ b/generate_parameter_library_py/setup.py
@@ -55,6 +55,14 @@
             'share/' + package_name + '/test',
             ['generate_parameter_library_py/test/invalid_parameter_type.yaml'],
         ),
+        (
+            'share/' + package_name + '/test',
+            ['generate_parameter_library_py/test/conflicting_element_bounds.yaml'],
+        ),
+        (
+            'share/' + package_name + '/test',
+            ['generate_parameter_library_py/test/conflicting_scalar_bounds.yaml'],
+        ),
         (
             'share/' + package_name + '/test',
             ['generate_parameter_library_py/test/valid_parameters.yaml'],

From b7878839cabbb7c5672420b136874d2df4ad56d1 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 7 Apr 2026 19:00:57 +0000
Subject: [PATCH 4/9] Also fail on combination of bounds and gt/lt variants

---
 .../generate_parameter_library_py/parse_yaml.py        | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py b/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
index c3bf86a..e23c1b5 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
+++ b/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
@@ -117,6 +117,16 @@ def validate_validator_combinations(param_name: str, validations_dict: dict):
             'generator emits a single ROS descriptor range.'.format(param_name)
         )
 
+    scalar_bound_validators = {'gt', 'gt_eq', 'lt', 'lt_eq'}
+    if 'bounds' in validation_names and validation_names.intersection(
+        scalar_bound_validators
+    ):
+        raise compile_error(
+            "Parameter {} cannot combine 'bounds' with scalar bound validators "
+            "(gt/gt_eq/lt/lt_eq). Use only 'bounds<>' for inclusive ranges, "
+            'or only scalar bound validators.'.format(param_name)
+        )
+
     scalar_lower_bounds = {'gt', 'gt_eq'}
     scalar_upper_bounds = {'lt', 'lt_eq'}
     if validation_names.intersection(

From bc7e7ff4018c408471574cd294d141092801da4c Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 7 Apr 2026 19:01:22 +0000
Subject: [PATCH 5/9] Split failure yaml files

---
 .../test/YAML_parse_error_test.py             |  6 +++-
 .../test/conflicting_scalar_bounds.yaml       | 32 -------------------
 .../conflicting_scalar_bounds_exclusive.yaml  |  8 +++++
 .../conflicting_scalar_bounds_inclusive.yaml  |  8 +++++
 .../conflicting_scalar_bounds_mixed_1.yaml    |  8 +++++
 .../conflicting_scalar_bounds_mixed_2.yaml    |  8 +++++
 ...conflicting_scalar_bounds_with_bounds.yaml |  8 +++++
 generate_parameter_library_py/setup.py        | 28 +++++++++++++++-
 8 files changed, 72 insertions(+), 34 deletions(-)
 delete mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds.yaml
 create mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_exclusive.yaml
 create mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_inclusive.yaml
 create mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_1.yaml
 create mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_2.yaml
 create mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_with_bounds.yaml

diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py b/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
index 163086a..3ea6ef7 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
@@ -75,7 +75,11 @@ def set_up(yaml_test_file):
             'invalid_syntax.yaml',
             'invalid_parameter_type.yaml',
             'conflicting_element_bounds.yaml',
-            'conflicting_scalar_bounds.yaml',
+            'conflicting_scalar_bounds_with_bounds.yaml',
+            'conflicting_scalar_bounds_inclusive.yaml',
+            'conflicting_scalar_bounds_exclusive.yaml',
+            'conflicting_scalar_bounds_mixed_1.yaml',
+            'conflicting_scalar_bounds_mixed_2.yaml',
         ]
     ],
 )
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds.yaml
deleted file mode 100644
index 742e76c..0000000
--- a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-admittance_controller:
-  conflicting_inclusive_bounds:
-    type: int
-    default_value: 16
-    description: "should be a number between 10 and 20"
-    validation:
-      gt_eq<>: [ 10 ]
-      lt_eq<>: [ 20 ]
-
-  conflicting_exclusive_bounds:
-    type: int
-    default_value: 16
-    description: "should be a number between 10 and 20"
-    validation:
-      gt<>: [ 10 ]
-      lt<>: [ 20 ]
-
-  conflicting_mixed_bounds_1:
-    type: int
-    default_value: 16
-    description: "should be a number between 10 and 20"
-    validation:
-      gt_eq<>: [ 10 ]
-      lt<>: [ 20 ]
-
-  conflicting_mixed_bounds_2:
-    type: int
-    default_value: 16
-    description: "should be a number between 10 and 20"
-    validation:
-      gt<>: [ 10 ]
-      lt_eq<>: [ 20 ]
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_exclusive.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_exclusive.yaml
new file mode 100644
index 0000000..ea09f4a
--- /dev/null
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_exclusive.yaml
@@ -0,0 +1,8 @@
+admittance_controller:
+  conflicting_exclusive_bounds:
+    type: int
+    default_value: 16
+    description: "should be a number between 10 and 20"
+    validation:
+      gt<>: [ 10 ]
+      lt<>: [ 20 ]
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_inclusive.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_inclusive.yaml
new file mode 100644
index 0000000..d4f3ba2
--- /dev/null
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_inclusive.yaml
@@ -0,0 +1,8 @@
+admittance_controller:
+  conflicting_inclusive_bounds:
+    type: int
+    default_value: 16
+    description: "should be a number between 10 and 20"
+    validation:
+      gt_eq<>: [ 10 ]
+      lt_eq<>: [ 20 ]
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_1.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_1.yaml
new file mode 100644
index 0000000..c9270e8
--- /dev/null
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_1.yaml
@@ -0,0 +1,8 @@
+admittance_controller:
+  conflicting_mixed_bounds_1:
+    type: int
+    default_value: 16
+    description: "should be a number between 10 and 20"
+    validation:
+      gt_eq<>: [ 10 ]
+      lt<>: [ 20 ]
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_2.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_2.yaml
new file mode 100644
index 0000000..b0cdcef
--- /dev/null
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_2.yaml
@@ -0,0 +1,8 @@
+admittance_controller:
+  conflicting_mixed_bounds_2:
+    type: int
+    default_value: 16
+    description: "should be a number between 10 and 20"
+    validation:
+      gt<>: [ 10 ]
+      lt_eq<>: [ 20 ]
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_with_bounds.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_with_bounds.yaml
new file mode 100644
index 0000000..52c3e3b
--- /dev/null
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_with_bounds.yaml
@@ -0,0 +1,8 @@
+admittance_controller:
+  conflicting_bounds:
+    type: int
+    default_value: 16
+    description: "should be a number between 10 and 20"
+    validation:
+      bounds<>: [ 10, 20 ]
+      lt_eq<>: [ 20 ]
diff --git a/generate_parameter_library_py/setup.py b/generate_parameter_library_py/setup.py
index 4c275c8..3cd7e96 100644
--- a/generate_parameter_library_py/setup.py
+++ b/generate_parameter_library_py/setup.py
@@ -61,7 +61,33 @@
         ),
         (
             'share/' + package_name + '/test',
-            ['generate_parameter_library_py/test/conflicting_scalar_bounds.yaml'],
+            [
+                'generate_parameter_library_py/test/conflicting_scalar_bounds_with_bounds.yaml'
+            ],
+        ),
+        (
+            'share/' + package_name + '/test',
+            [
+                'generate_parameter_library_py/test/conflicting_scalar_bounds_inclusive.yaml'
+            ],
+        ),
+        (
+            'share/' + package_name + '/test',
+            [
+                'generate_parameter_library_py/test/conflicting_scalar_bounds_exclusive.yaml'
+            ],
+        ),
+        (
+            'share/' + package_name + '/test',
+            [
+                'generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_1.yaml'
+            ],
+        ),
+        (
+            'share/' + package_name + '/test',
+            [
+                'generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_2.yaml'
+            ],
         ),
         (
             'share/' + package_name + '/test',

From b897c6a06ee8f179da7d42e624094edadcdee380 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 7 Apr 2026 19:05:21 +0000
Subject: [PATCH 6/9] Add notes to README

---
 README.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/README.md b/README.md
index b54f345..5c0b353 100644
--- a/README.md
+++ b/README.md
@@ -264,6 +264,8 @@ The built-in validator functions provided by this package are:
 | gt_eq<>  | [value]             | parameter >= value                   |
 | one_of<> | [[val1, val2, ...]] | Value is one of the specified values |
 
+Note: `lt<>`, `gt<>`, `lt_eq<>`, `gt_eq<>`, or `bounds<>` cannot be used together.
+
 **String validators**
 | Function     | Arguments           | Description                                    |
 | ------------ | ------------------- | ---------------------------------------------- |
@@ -286,6 +288,8 @@ The built-in validator functions provided by this package are:
 | lower_element_bounds<> | [lower]             | Lower bound for each element (inclusive)            |
 | upper_element_bounds<> | [upper]             | Upper bound for each element (inclusive)            |
 
+Note: `element_bounds<>` cannot be mixed with `lower_element_bounds<>`, or `upper_element_bounds<>`.
+
 ### Custom validator functions
 Validators are functions that return a `tl::expected<void, std::string>` type and accept a `rclcpp::Parameter const&` as their first argument and any number of arguments after that can be specified in YAML.
 Validators are C++ functions defined in a header file similar to the example shown below.

From d0a865fd4f1497b7b7ab000cb710fb4ab9de7a22 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 7 Apr 2026 20:30:50 +0000
Subject: [PATCH 7/9] Allow one-sided bounds combinations

---
 example/src/parameters.yaml                   | 23 ++++++++++
 .../parameters.yaml                           | 23 ++++++++++
 .../jinja_templates/cpp/declare_parameter     | 44 ++++++++++---------
 .../cpp/declare_runtime_parameter             | 44 ++++++++++---------
 .../jinja_templates/python/declare_parameter  | 40 +++++++++--------
 .../python/declare_runtime_parameter          | 40 +++++++++--------
 .../parse_yaml.py                             | 22 +++-------
 .../test/YAML_parse_error_test.py             |  4 --
 .../test/conflicting_element_bounds.yaml      |  2 +-
 .../conflicting_scalar_bounds_exclusive.yaml  |  8 ----
 .../conflicting_scalar_bounds_inclusive.yaml  |  8 ----
 .../conflicting_scalar_bounds_mixed_1.yaml    |  8 ----
 .../conflicting_scalar_bounds_mixed_2.yaml    |  8 ----
 .../test/valid_parameters.yaml                | 21 +++++++++
 generate_parameter_library_py/setup.py        | 24 ----------
 15 files changed, 165 insertions(+), 154 deletions(-)
 delete mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_exclusive.yaml
 delete mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_inclusive.yaml
 delete mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_1.yaml
 delete mode 100644 generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_2.yaml

diff --git a/example/src/parameters.yaml b/example/src/parameters.yaml
index 5f46ad8..dc8955b 100644
--- a/example/src/parameters.yaml
+++ b/example/src/parameters.yaml
@@ -223,6 +223,15 @@ admittance_controller:
       validation:
         element_bounds: [ 0.0001, 100000.0 ]
 
+  acceleration_limits:
+    type: double_array
+    description: "specifies maximum acceleration limits for x, y and z axis"
+    default_value: [0.0, 0.0, 0.0]
+    validation:
+      fixed_size<>: 3
+      lower_element_bounds<>: -10.0
+      upper_element_bounds<>: 10.0
+
   # general settings
   enable_parameter_update_without_reactivation:
     type: bool
@@ -244,6 +253,20 @@ admittance_controller:
     description: "should be a number greater than 15"
     validation:
       gt<>: [ 15 ]
+  gt_fifteen_lt_eq_twenty:
+    type: int
+    default_value: 20
+    description: "should be a number greater than 15 and less than or equal to 20"
+    validation:
+      gt<>: [ 15 ]
+      lt_eq<>: [ 20 ]
+  gt_fifteen_lt_twenty:
+    type: int
+    default_value: 16
+    description: "should be a number greater than 15 and less than 20"
+    validation:
+      gt<>: [ 15 ]
+      lt<>: [ 20 ]
   one_number:
     type: int
     default_value: 14540
diff --git a/example_python/generate_parameter_module_example/parameters.yaml b/example_python/generate_parameter_module_example/parameters.yaml
index acd6463..48dd68d 100644
--- a/example_python/generate_parameter_module_example/parameters.yaml
+++ b/example_python/generate_parameter_module_example/parameters.yaml
@@ -226,6 +226,15 @@ admittance_controller:
       validation:
         element_bounds: [ 0.0001, 100000.0 ]
 
+  acceleration_limits:
+    type: double_array
+    description: "specifies maximum acceleration limits for x, y and z axis"
+    default_value: [0.0, 0.0, 0.0]
+    validation:
+      fixed_size<>: 3
+      lower_element_bounds<>: -10.0
+      upper_element_bounds<>: 10.0
+
   # general settings
   enable_parameter_update_without_reactivation:
     type: bool
@@ -247,6 +256,20 @@ admittance_controller:
     description: "should be a number greater than 15"
     validation:
       gt<>: [ 15 ]
+  gt_fifteen_lt_eq_twenty:
+    type: int
+    default_value: 20
+    description: "should be a number greater than 15 and less than or equal to 20"
+    validation:
+      gt<>: [ 15 ]
+      lt_eq<>: [ 20 ]
+  gt_fifteen_lt_twenty:
+    type: int
+    default_value: 16
+    description: "should be a number greater than 15 and less than 20"
+    validation:
+      gt<>: [ 15 ]
+      lt<>: [ 20 ]
   one_number:
     type: int
     default_value: 14540
diff --git a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_parameter b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_parameter
index 51e4fb4..c0896e2 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_parameter
+++ b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_parameter
@@ -6,37 +6,41 @@ descriptor.read_only = {{parameter_read_only}};
 {%- if parameter_additional_constraints|length %}
 descriptor.additional_constraints = {{parameter_additional_constraints | valid_string_cpp}};
 {% endif -%}
-{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if "DOUBLE" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.floating_point_range.at({{loop.index0}}).to_value = std::numeric_limits<double>::max();
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = std::numeric_limits<double>::lowest();
-descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
+{%- set range.upper = validation.arguments[0] %}
+{%- endif %}
+{%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
+descriptor.floating_point_range.resize(1);
+descriptor.floating_point_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<double>::lowest()"}};
+descriptor.floating_point_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<double>::max()"}};
 {%- endif %}
 {%- elif "INTEGER" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.integer_range.at({{loop.index0}}).to_value = std::numeric_limits<int64_t>::max();
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = std::numeric_limits<int64_t>::lowest();
-descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
-{%- endif %}
+{%- set range.upper = validation.arguments[0] %}
 {%- endif %}
 {%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
+descriptor.integer_range.resize(1);
+descriptor.integer_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<int64_t>::lowest()"}};
+descriptor.integer_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<int64_t>::max()"}};
+{%- endif %}
+{%- endif %}
 {%- if not parameter_value|length %}
 auto parameter = rclcpp::ParameterType::PARAMETER_{{parameter_type}};
 {% endif -%}
diff --git a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter
index 625a842..935bb17 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter
+++ b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter
@@ -22,37 +22,41 @@ descriptor.read_only = {{parameter_read_only}};
 {%- if parameter_additional_constraints|length %}
 descriptor.additional_constraints = {{parameter_additional_constraints | valid_string_cpp}};
 {% endif -%}
-{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if "DOUBLE" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.floating_point_range.at({{loop.index0}}).to_value = std::numeric_limits<double>::max();
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = std::numeric_limits<double>::lowest();
-descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
+{%- set range.upper = validation.arguments[0] %}
+{%- endif %}
+{%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
+descriptor.floating_point_range.resize(1);
+descriptor.floating_point_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<double>::lowest()"}};
+descriptor.floating_point_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<double>::max()"}};
 {%- endif %}
 {%- elif "INTEGER" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.integer_range.at({{loop.index0}}).to_value = std::numeric_limits<int64_t>::max();
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = std::numeric_limits<int64_t>::lowest();
-descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
-{%- endif %}
+{%- set range.upper = validation.arguments[0] %}
 {%- endif %}
 {%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
+descriptor.integer_range.resize(1);
+descriptor.integer_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<int64_t>::lowest()"}};
+descriptor.integer_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<int64_t>::max()"}};
+{%- endif %}
+{%- endif %}
 {%- if not default_value|length %}
 auto parameter = rclcpp::ParameterType::PARAMETER_{{parameter_type}};
 {% endif -%}
diff --git a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_parameter b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_parameter
index 312a001..bc71a37 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_parameter
+++ b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_parameter
@@ -4,37 +4,41 @@ descriptor = ParameterDescriptor(description=r"{{parameter_description|valid_str
 {%- if parameter_additional_constraints|length %}
 descriptor.additional_constraints = "{{parameter_additional_constraints|valid_string_python}}"
 {% endif -%}
-{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if "DOUBLE" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.floating_point_range.append(FloatingPointRange())
-descriptor.floating_point_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.floating_point_range[-1].to_value = {{validation.arguments[1]}}
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.floating_point_range.append(FloatingPointRange())
-descriptor.floating_point_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.floating_point_range[-1].to_value = float('inf')
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
+{%- set range.upper = validation.arguments[0] %}
+{%- endif %}
+{%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
 descriptor.floating_point_range.append(FloatingPointRange())
-descriptor.floating_point_range[-1].from_value = -float('inf')
-descriptor.floating_point_range[-1].to_value = {{validation.arguments[0]}}
+descriptor.floating_point_range[-1].from_value = {{range.lower if range.lower is not none else "-float('inf')"}}
+descriptor.floating_point_range[-1].to_value = {{range.upper if range.upper is not none else "float('inf')"}}
 {%- endif %}
 {%- elif "INTEGER" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.integer_range.append(IntegerRange())
-descriptor.integer_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.integer_range[-1].to_value = {{validation.arguments[1]}}
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.integer_range.append(IntegerRange())
-descriptor.integer_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.integer_range[-1].to_value = 2**31-1
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
+{%- set range.upper = validation.arguments[0] %}
+{%- endif %}
+{%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
 descriptor.integer_range.append(IntegerRange())
-descriptor.integer_range[-1].from_value = -2**31-1
-descriptor.integer_range[-1].to_value = {{validation.arguments[0]}}
+descriptor.integer_range[-1].from_value = {{range.lower if range.lower is not none else "-2**31-1"}}
+descriptor.integer_range[-1].to_value = {{range.upper if range.upper is not none else "2**31-1"}}
 {%- endif %}
 {%- endif %}
-{%- endfor %}
 {%- if not parameter_value|length %}
 parameter = rclpy.Parameter.Type.{{parameter_type}}
 {% endif -%}
diff --git a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter
index 4d98938..a74ca2c 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter
+++ b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter
@@ -19,37 +19,41 @@ descriptor = ParameterDescriptor(description=r"{{parameter_description|valid_str
 {%- if parameter_additional_constraints|length %}
 descriptor.additional_constraints = "{{parameter_additional_constraints|valid_string_python}}"
 {% endif -%}
-{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if "DOUBLE" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.floating_point_range.append(FloatingPointRange())
-descriptor.floating_point_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.floating_point_range[-1].to_value = {{validation.arguments[1]}}
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.floating_point_range.append(FloatingPointRange())
-descriptor.floating_point_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.floating_point_range[-1].to_value = float('inf')
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
+{%- set range.upper = validation.arguments[0] %}
+{%- endif %}
+{%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
 descriptor.floating_point_range.append(FloatingPointRange())
-descriptor.floating_point_range[-1].from_value = -float('inf')
-descriptor.floating_point_range[-1].to_value = {{validation.arguments[0]}}
+descriptor.floating_point_range[-1].from_value = {{range.lower if range.lower is not none else "-float('inf')"}}
+descriptor.floating_point_range[-1].to_value = {{range.upper if range.upper is not none else "float('inf')"}}
 {%- endif %}
 {%- elif "INTEGER" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.integer_range.append(IntegerRange())
-descriptor.integer_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.integer_range[-1].to_value = {{validation.arguments[1]}}
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.integer_range.append(IntegerRange())
-descriptor.integer_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.integer_range[-1].to_value = 2**31-1
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
+{%- set range.upper = validation.arguments[0] %}
+{%- endif %}
+{%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
 descriptor.integer_range.append(IntegerRange())
-descriptor.integer_range[-1].from_value = -2**31-1
-descriptor.integer_range[-1].to_value = {{validation.arguments[0]}}
+descriptor.integer_range[-1].from_value = {{range.lower if range.lower is not none else "-2**31-1"}}
+descriptor.integer_range[-1].to_value = {{range.upper if range.upper is not none else "2**31-1"}}
 {%- endif %}
 {%- endif %}
-{%- endfor %}
 {%- if not default_value|length %}
 parameter = rclpy.Parameter.Type.{{parameter_type}}
 {% endif -%}
diff --git a/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py b/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
index e23c1b5..060980f 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
+++ b/generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
@@ -107,14 +107,14 @@ def validation_base_name(function_name: str):
 def validate_validator_combinations(param_name: str, validations_dict: dict):
     validation_names = {validation_base_name(name) for name in validations_dict}
 
-    if {
+    if 'element_bounds' in validation_names and {
         'lower_element_bounds',
         'upper_element_bounds',
-    }.issubset(validation_names):
+    }.intersection(validation_names):
         raise compile_error(
-            "Parameter {} cannot combine 'lower_element_bounds' and "
-            "'upper_element_bounds'. Use 'element_bounds' instead so the "
-            'generator emits a single ROS descriptor range.'.format(param_name)
+            "Parameter {} cannot combine 'element_bounds' with 'lower_element_bounds/upper_element_bounds'.".format(
+                param_name
+            )
         )
 
     scalar_bound_validators = {'gt', 'gt_eq', 'lt', 'lt_eq'}
@@ -127,18 +127,6 @@ def validate_validator_combinations(param_name: str, validations_dict: dict):
             'or only scalar bound validators.'.format(param_name)
         )
 
-    scalar_lower_bounds = {'gt', 'gt_eq'}
-    scalar_upper_bounds = {'lt', 'lt_eq'}
-    if validation_names.intersection(
-        scalar_lower_bounds
-    ) and validation_names.intersection(scalar_upper_bounds):
-        raise compile_error(
-            'Parameter {} cannot combine lower and upper scalar bound validators '
-            '(gt/gt_eq with lt/lt_eq). '
-            "Use 'bounds<>' for inclusive ranges or a custom validator for "
-            'exclusive/mixed bounds.'.format(param_name)
-        )
-
 
 def get_dynamic_parameter_field(yaml_parameter_name: str):
     tmp = yaml_parameter_name.split('.')
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py b/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
index 3ea6ef7..2800766 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py
@@ -76,10 +76,6 @@ def set_up(yaml_test_file):
             'invalid_parameter_type.yaml',
             'conflicting_element_bounds.yaml',
             'conflicting_scalar_bounds_with_bounds.yaml',
-            'conflicting_scalar_bounds_inclusive.yaml',
-            'conflicting_scalar_bounds_exclusive.yaml',
-            'conflicting_scalar_bounds_mixed_1.yaml',
-            'conflicting_scalar_bounds_mixed_2.yaml',
         ]
     ],
 )
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_element_bounds.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_element_bounds.yaml
index 51cbf72..2f56e5e 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_element_bounds.yaml
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_element_bounds.yaml
@@ -4,5 +4,5 @@ admittance_controller:
     description: "specifies maximum acceleration limits for x, y and z axis"
     validation:
       fixed_size<>: 3
-      lower_element_bounds<>: -10.0
+      element_bounds<>: [-10.0, 20.0]
       upper_element_bounds<>: 10.0
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_exclusive.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_exclusive.yaml
deleted file mode 100644
index ea09f4a..0000000
--- a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_exclusive.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-admittance_controller:
-  conflicting_exclusive_bounds:
-    type: int
-    default_value: 16
-    description: "should be a number between 10 and 20"
-    validation:
-      gt<>: [ 10 ]
-      lt<>: [ 20 ]
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_inclusive.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_inclusive.yaml
deleted file mode 100644
index d4f3ba2..0000000
--- a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_inclusive.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-admittance_controller:
-  conflicting_inclusive_bounds:
-    type: int
-    default_value: 16
-    description: "should be a number between 10 and 20"
-    validation:
-      gt_eq<>: [ 10 ]
-      lt_eq<>: [ 20 ]
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_1.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_1.yaml
deleted file mode 100644
index c9270e8..0000000
--- a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_1.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-admittance_controller:
-  conflicting_mixed_bounds_1:
-    type: int
-    default_value: 16
-    description: "should be a number between 10 and 20"
-    validation:
-      gt_eq<>: [ 10 ]
-      lt<>: [ 20 ]
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_2.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_2.yaml
deleted file mode 100644
index b0cdcef..0000000
--- a/generate_parameter_library_py/generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_2.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-admittance_controller:
-  conflicting_mixed_bounds_2:
-    type: int
-    default_value: 16
-    description: "should be a number between 10 and 20"
-    validation:
-      gt<>: [ 10 ]
-      lt_eq<>: [ 20 ]
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/valid_parameters.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/valid_parameters.yaml
index 6142a45..fbbbb8d 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/test/valid_parameters.yaml
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/valid_parameters.yaml
@@ -34,6 +34,27 @@ admittance_controller:
         type: double
         default_value: 1.0
         description: "derivative gain term"
+  gt_fifteen_lt_eq_twenty:
+    type: int
+    default_value: 20
+    description: "should be a number greater than 15 and less than or equal to 20"
+    validation:
+      gt<>: [ 15 ]
+      lt_eq<>: [ 20 ]
+  gt_fifteen_lt_twenty:
+    type: int
+    default_value: 16
+    description: "should be a number greater than 15 and less than 20"
+    validation:
+      gt<>: [ 15 ]
+      lt<>: [ 20 ]
+  acceleration_limits:
+    type: double_array
+    description: "specifies maximum acceleration limits for x, y and z axis"
+    validation:
+      fixed_size<>: 3
+      lower_element_bounds<>: -10.0
+      upper_element_bounds<>: 10.0
   fixed_string:
     type: string_fixed_25
     default_value: "string_value"
diff --git a/generate_parameter_library_py/setup.py b/generate_parameter_library_py/setup.py
index 3cd7e96..92ec109 100644
--- a/generate_parameter_library_py/setup.py
+++ b/generate_parameter_library_py/setup.py
@@ -65,30 +65,6 @@
                 'generate_parameter_library_py/test/conflicting_scalar_bounds_with_bounds.yaml'
             ],
         ),
-        (
-            'share/' + package_name + '/test',
-            [
-                'generate_parameter_library_py/test/conflicting_scalar_bounds_inclusive.yaml'
-            ],
-        ),
-        (
-            'share/' + package_name + '/test',
-            [
-                'generate_parameter_library_py/test/conflicting_scalar_bounds_exclusive.yaml'
-            ],
-        ),
-        (
-            'share/' + package_name + '/test',
-            [
-                'generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_1.yaml'
-            ],
-        ),
-        (
-            'share/' + package_name + '/test',
-            [
-                'generate_parameter_library_py/test/conflicting_scalar_bounds_mixed_2.yaml'
-            ],
-        ),
         (
             'share/' + package_name + '/test',
             ['generate_parameter_library_py/test/valid_parameters.yaml'],

From 95243e47c045e2a8dd20ab93156c316fe55e21e3 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 7 Apr 2026 20:48:26 +0000
Subject: [PATCH 8/9] Fix readme

---
 README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 5c0b353..40fcd6b 100644
--- a/README.md
+++ b/README.md
@@ -264,7 +264,7 @@ The built-in validator functions provided by this package are:
 | gt_eq<>  | [value]             | parameter >= value                   |
 | one_of<> | [[val1, val2, ...]] | Value is one of the specified values |
 
-Note: `lt<>`, `gt<>`, `lt_eq<>`, `gt_eq<>`, or `bounds<>` cannot be used together.
+Note: `lt<>`, `gt<>`, `lt_eq<>`, or `gt_eq<>` cannot be used together with `bounds<>`.
 
 **String validators**
 | Function     | Arguments           | Description                                    |
@@ -288,7 +288,7 @@ Note: `lt<>`, `gt<>`, `lt_eq<>`, `gt_eq<>`, or `bounds<>` cannot be used togethe
 | lower_element_bounds<> | [lower]             | Lower bound for each element (inclusive)            |
 | upper_element_bounds<> | [upper]             | Upper bound for each element (inclusive)            |
 
-Note: `element_bounds<>` cannot be mixed with `lower_element_bounds<>`, or `upper_element_bounds<>`.
+Note: `element_bounds<>` cannot be mixed with `lower_element_bounds<>` or `upper_element_bounds<>`.
 
 ### Custom validator functions
 Validators are functions that return a `tl::expected<void, std::string>` type and accept a `rclcpp::Parameter const&` as their first argument and any number of arguments after that can be specified in YAML.

From 935ebfefec25618480da0e3e012693c25db82cea Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 7 Apr 2026 20:58:24 +0000
Subject: [PATCH 9/9] Add also a test field for runtime(mapped) parameters

---
 example/src/parameters.yaml                            |  9 +++++++++
 .../generate_parameter_module_example/parameters.yaml  |  9 +++++++++
 .../test/valid_parameters.yaml                         | 10 ++++++++++
 3 files changed, 28 insertions(+)

diff --git a/example/src/parameters.yaml b/example/src/parameters.yaml
index dc8955b..4eb222e 100644
--- a/example/src/parameters.yaml
+++ b/example/src/parameters.yaml
@@ -29,6 +29,15 @@ admittance_controller:
         validation:
           gt<>: [0.0]
 
+      limit:
+        type: double_array
+        description: "specifies limit for x, y and z axis"
+        default_value: [0.0, 0.0, 0.0]
+        validation:
+          fixed_size<>: 3
+          lower_element_bounds<>: -10.0
+          upper_element_bounds<>: 10.0
+
   nested_dynamic:
     __map_joints:
       __map_dof_names:
diff --git a/example_python/generate_parameter_module_example/parameters.yaml b/example_python/generate_parameter_module_example/parameters.yaml
index 48dd68d..df33939 100644
--- a/example_python/generate_parameter_module_example/parameters.yaml
+++ b/example_python/generate_parameter_module_example/parameters.yaml
@@ -35,6 +35,15 @@ admittance_controller:
         validation:
           gt<>: [0.0]
 
+      limit:
+        type: double_array
+        description: "specifies limit for x, y and z axis"
+        default_value: [0.0, 0.0, 0.0]
+        validation:
+          fixed_size<>: 3
+          lower_element_bounds<>: -10.0
+          upper_element_bounds<>: 10.0
+
   nested_dynamic:
     __map_joints:
       __map_dof_names:
diff --git a/generate_parameter_library_py/generate_parameter_library_py/test/valid_parameters.yaml b/generate_parameter_library_py/generate_parameter_library_py/test/valid_parameters.yaml
index fbbbb8d..571c09d 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/test/valid_parameters.yaml
+++ b/generate_parameter_library_py/generate_parameter_library_py/test/valid_parameters.yaml
@@ -34,6 +34,16 @@ admittance_controller:
         type: double
         default_value: 1.0
         description: "derivative gain term"
+
+      limit:
+        type: double_array
+        description: "specifies limit for x, y and z axis"
+        default_value: [0.0, 0.0, 0.0]
+        validation:
+          fixed_size<>: 3
+          lower_element_bounds<>: -10.0
+          upper_element_bounds<>: 10.0
+
   gt_fifteen_lt_eq_twenty:
     type: int
     default_value: 20