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Fix for forward_velocity_controller test (#1076)
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* Update config with correct parameters and names

* Changed name for better description of the file

(cherry picked from commit b422d49)
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VinDp authored and mergify[bot] committed Sep 4, 2024
1 parent e07463b commit 4a4f7de
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Showing 2 changed files with 7 additions and 7 deletions.
10 changes: 5 additions & 5 deletions ur_robot_driver/config/test_velocity_goal_publishers_config.yaml
Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
publisher_forward_velocity_controller:
ros__parameters:

controller_name: "forward_velocity_controller"
publish_topic: "forward_velocity_controller/commands"
wait_sec_between_publish: 5

goal_names: ["pos1", "pos2", "pos3"]
pos1: [0.0, 0.0, 0.0, 0.0, 0.0, 0.05]
pos2: [0.0, 0.0, 0.0, 0.0, 0.0, -0.05]
pos3: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
goal_names: ["vel1", "vel2", "vel3"]
vel1: [0.0, 0.0, 0.0, 0.0, 0.0, 0.5]
vel2: [0.0, 0.0, 0.0, 0.0, 0.0, -0.5]
vel3: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@


def generate_launch_description():
velocity_goals = PathJoinSubstitution(
velocity_config = PathJoinSubstitution(
[FindPackageShare("ur_robot_driver"), "config", "test_velocity_goal_publishers_config.yaml"]
)

Expand All @@ -48,7 +48,7 @@ def generate_launch_description():
package="ros2_controllers_test_nodes",
executable="publisher_forward_position_controller",
name="publisher_forward_velocity_controller",
parameters=[velocity_goals],
parameters=[velocity_config],
output="screen",
)
]
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