From 4a4f7dee8fa97a433a48ccf2c3cf36b0becd38aa Mon Sep 17 00:00:00 2001 From: Vincenzo Di Pentima Date: Wed, 4 Sep 2024 15:29:38 +0200 Subject: [PATCH] Fix for forward_velocity_controller test (#1076) * Update config with correct parameters and names * Changed name for better description of the file (cherry picked from commit b422d4931983c682866efcd71dad942f645ac9a1) --- .../config/test_velocity_goal_publishers_config.yaml | 10 +++++----- .../launch/test_forward_velocity_controller.launch.py | 4 ++-- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/ur_robot_driver/config/test_velocity_goal_publishers_config.yaml b/ur_robot_driver/config/test_velocity_goal_publishers_config.yaml index 4d27858ca..185c7b7c4 100644 --- a/ur_robot_driver/config/test_velocity_goal_publishers_config.yaml +++ b/ur_robot_driver/config/test_velocity_goal_publishers_config.yaml @@ -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] diff --git a/ur_robot_driver/launch/test_forward_velocity_controller.launch.py b/ur_robot_driver/launch/test_forward_velocity_controller.launch.py index 87e0ca89f..ac74fa347 100644 --- a/ur_robot_driver/launch/test_forward_velocity_controller.launch.py +++ b/ur_robot_driver/launch/test_forward_velocity_controller.launch.py @@ -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"] ) @@ -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", ) ]