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christophfroehlichchristophfroehlich
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Merge commit '646b7b35fa13b6eca17fdbfa98e7b7f9e9bcb37b' into remove_front_steering_param_from_steering_library
2 parents e3db5fe + 646b7b3 commit adbc418

16 files changed

+57
-63
lines changed

‎ackermann_steering_controller/CMakeLists.txt

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -74,12 +74,12 @@ if(BUILD_TESTING)
7474
)
7575

7676
add_rostest_with_parameters_gmock(
77-
test_ackermann_steering_controller_preceeding test/test_ackermann_steering_controller_preceeding.cpp
78-
${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_preceeding_params.yaml)
79-
target_include_directories(test_ackermann_steering_controller_preceeding PRIVATE include)
80-
target_link_libraries(test_ackermann_steering_controller_preceeding ackermann_steering_controller)
77+
test_ackermann_steering_controller_preceding test/test_ackermann_steering_controller_preceding.cpp
78+
${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_preceding_params.yaml)
79+
target_include_directories(test_ackermann_steering_controller_preceding PRIVATE include)
80+
target_link_libraries(test_ackermann_steering_controller_preceding ackermann_steering_controller)
8181
ament_target_dependencies(
82-
test_ackermann_steering_controller_preceeding
82+
test_ackermann_steering_controller_preceding
8383
controller_interface
8484
hardware_interface
8585
)

‎ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml renamed to ‎ackermann_steering_controller/test/ackermann_steering_controller_preceding_params.yaml

File renamed without changes.

‎ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -288,13 +288,13 @@ class AckermannSteeringControllerFixture : public ::testing::Test
288288
traction_joints_names_[0], traction_joints_names_[1], steering_joints_names_[0],
289289
steering_joints_names_[1]};
290290

291-
std::vector<std::string> wheels_preceeding_names_ = {
291+
std::vector<std::string> wheels_preceding_names_ = {
292292
"pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"};
293-
std::vector<std::string> steers_preceeding_names_ = {
293+
std::vector<std::string> steers_preceding_names_ = {
294294
"pid_controller/front_right_steering_joint", "pid_controller/front_left_steering_joint"};
295-
std::vector<std::string> preceeding_joint_names_ = {
296-
wheels_preceeding_names_[0], wheels_preceeding_names_[1], steers_preceeding_names_[0],
297-
steers_preceeding_names_[1]};
295+
std::vector<std::string> preceding_joint_names_ = {
296+
wheels_preceding_names_[0], wheels_preceding_names_[1], steers_preceding_names_[0],
297+
steers_preceding_names_[1]};
298298

299299
double wheelbase_ = 3.24644;
300300
double traction_track_width_ = 1.76868;
@@ -306,7 +306,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
306306
std::string steering_interface_name_ = "position";
307307
// defined in setup
308308
std::string traction_interface_name_ = "";
309-
std::string preceeding_prefix_ = "pid_controller";
309+
std::string preceding_prefix_ = "pid_controller";
310310

311311
std::vector<hardware_interface::StateInterface> state_itfs_;
312312
std::vector<hardware_interface::CommandInterface> command_itfs_;

‎ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp renamed to ‎ackermann_steering_controller/test/test_ackermann_steering_controller_preceding.cpp

Lines changed: 6 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -31,11 +31,9 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
3131
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
3232

3333
ASSERT_THAT(
34-
controller_->params_.traction_joints_names,
35-
testing::ElementsAreArray(wheels_preceeding_names_));
34+
controller_->params_.traction_joints_names, testing::ElementsAreArray(wheels_preceding_names_));
3635
ASSERT_THAT(
37-
controller_->params_.steering_joints_names,
38-
testing::ElementsAreArray(steers_preceeding_names_));
36+
controller_->params_.steering_joints_names, testing::ElementsAreArray(steers_preceding_names_));
3937
ASSERT_EQ(controller_->params_.open_loop, open_loop_);
4038
ASSERT_EQ(controller_->params_.velocity_rolling_window_size, velocity_rolling_window_size_);
4139
ASSERT_EQ(controller_->params_.position_feedback, position_feedback_);
@@ -54,16 +52,16 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
5452
ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
5553
EXPECT_EQ(
5654
cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
57-
preceeding_prefix_ + "/" + traction_joints_names_[0] + "/" + traction_interface_name_);
55+
preceding_prefix_ + "/" + traction_joints_names_[0] + "/" + traction_interface_name_);
5856
EXPECT_EQ(
5957
cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
60-
preceeding_prefix_ + "/" + traction_joints_names_[1] + "/" + traction_interface_name_);
58+
preceding_prefix_ + "/" + traction_joints_names_[1] + "/" + traction_interface_name_);
6159
EXPECT_EQ(
6260
cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL],
63-
preceeding_prefix_ + "/" + steering_joints_names_[0] + "/" + steering_interface_name_);
61+
preceding_prefix_ + "/" + steering_joints_names_[0] + "/" + steering_interface_name_);
6462
EXPECT_EQ(
6563
cmd_if_conf.names[CMD_STEER_LEFT_WHEEL],
66-
preceeding_prefix_ + "/" + steering_joints_names_[1] + "/" + steering_interface_name_);
64+
preceding_prefix_ + "/" + steering_joints_names_[1] + "/" + steering_interface_name_);
6765
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
6866

6967
auto state_if_conf = controller_->state_interface_configuration();

‎bicycle_steering_controller/CMakeLists.txt

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -72,12 +72,12 @@ if(BUILD_TESTING)
7272
)
7373

7474
add_rostest_with_parameters_gmock(
75-
test_bicycle_steering_controller_preceeding test/test_bicycle_steering_controller_preceeding.cpp
76-
${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_preceeding_params.yaml)
77-
target_include_directories(test_bicycle_steering_controller_preceeding PRIVATE include)
78-
target_link_libraries(test_bicycle_steering_controller_preceeding bicycle_steering_controller)
75+
test_bicycle_steering_controller_preceding test/test_bicycle_steering_controller_preceding.cpp
76+
${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_preceding_params.yaml)
77+
target_include_directories(test_bicycle_steering_controller_preceding PRIVATE include)
78+
target_link_libraries(test_bicycle_steering_controller_preceding bicycle_steering_controller)
7979
ament_target_dependencies(
80-
test_bicycle_steering_controller_preceeding
80+
test_bicycle_steering_controller_preceding
8181
controller_interface
8282
hardware_interface
8383
)

‎bicycle_steering_controller/test/bicycle_steering_controller_preceeding_params.yaml renamed to ‎bicycle_steering_controller/test/bicycle_steering_controller_preceding_params.yaml

File renamed without changes.

‎bicycle_steering_controller/test/test_bicycle_steering_controller.hpp

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -259,10 +259,10 @@ class BicycleSteeringControllerFixture : public ::testing::Test
259259
std::vector<std::string> steering_joints_names_ = {{"steering_axis_joint"}};
260260
std::vector<std::string> joint_names_ = {{traction_joints_names_[0], steering_joints_names_[0]}};
261261

262-
std::vector<std::string> wheels_preceeding_names_ = {{"pid_controller/rear_wheel_joint"}};
263-
std::vector<std::string> steers_preceeding_names_ = {{"pid_controller/steering_axis_joint"}};
264-
std::vector<std::string> preceeding_joint_names_ = {
265-
{wheels_preceeding_names_[0], steers_preceeding_names_[0]}};
262+
std::vector<std::string> wheels_preceding_names_ = {{"pid_controller/rear_wheel_joint"}};
263+
std::vector<std::string> steers_preceding_names_ = {{"pid_controller/steering_axis_joint"}};
264+
std::vector<std::string> preceding_joint_names_ = {
265+
{wheels_preceding_names_[0], steers_preceding_names_[0]}};
266266

267267
double wheelbase_ = 3.24644;
268268
double traction_wheel_radius_ = 0.45;
@@ -274,7 +274,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
274274

275275
// defined in setup
276276
std::string traction_interface_name_ = "";
277-
std::string preceeding_prefix_ = "pid_controller";
277+
std::string preceding_prefix_ = "pid_controller";
278278

279279
std::vector<hardware_interface::StateInterface> state_itfs_;
280280
std::vector<hardware_interface::CommandInterface> command_itfs_;

‎bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp renamed to ‎bicycle_steering_controller/test/test_bicycle_steering_controller_preceding.cpp

Lines changed: 4 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -31,11 +31,9 @@ TEST_F(BicycleSteeringControllerTest, all_parameters_set_configure_success)
3131
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
3232

3333
ASSERT_THAT(
34-
controller_->params_.traction_joints_names,
35-
testing::ElementsAreArray(wheels_preceeding_names_));
34+
controller_->params_.traction_joints_names, testing::ElementsAreArray(wheels_preceding_names_));
3635
ASSERT_THAT(
37-
controller_->params_.steering_joints_names,
38-
testing::ElementsAreArray(steers_preceeding_names_));
36+
controller_->params_.steering_joints_names, testing::ElementsAreArray(steers_preceding_names_));
3937
ASSERT_EQ(controller_->params_.open_loop, open_loop_);
4038
ASSERT_EQ(controller_->params_.velocity_rolling_window_size, velocity_rolling_window_size_);
4139
ASSERT_EQ(controller_->params_.position_feedback, position_feedback_);
@@ -53,10 +51,10 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
5351
ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
5452
EXPECT_EQ(
5553
cmd_if_conf.names[CMD_TRACTION_WHEEL],
56-
preceeding_prefix_ + "/" + traction_joints_names_[0] + "/" + traction_interface_name_);
54+
preceding_prefix_ + "/" + traction_joints_names_[0] + "/" + traction_interface_name_);
5755
EXPECT_EQ(
5856
cmd_if_conf.names[CMD_STEER_WHEEL],
59-
preceeding_prefix_ + "/" + steering_joints_names_[0] + "/" + steering_interface_name_);
57+
preceding_prefix_ + "/" + steering_joints_names_[0] + "/" + steering_interface_name_);
6058
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
6159

6260
auto state_if_conf = controller_->state_interface_configuration();

‎mecanum_drive_controller/CMakeLists.txt

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -75,12 +75,12 @@ if(BUILD_TESTING)
7575
)
7676

7777
add_rostest_with_parameters_gmock(
78-
test_mecanum_drive_controller_preceeding test/test_mecanum_drive_controller_preceeding.cpp
79-
${CMAKE_CURRENT_SOURCE_DIR}/test/mecanum_drive_controller_preceeding_params.yaml)
80-
target_include_directories(test_mecanum_drive_controller_preceeding PRIVATE include)
81-
target_link_libraries(test_mecanum_drive_controller_preceeding mecanum_drive_controller)
78+
test_mecanum_drive_controller_preceding test/test_mecanum_drive_controller_preceding.cpp
79+
${CMAKE_CURRENT_SOURCE_DIR}/test/mecanum_drive_controller_preceding_params.yaml)
80+
target_include_directories(test_mecanum_drive_controller_preceding PRIVATE include)
81+
target_link_libraries(test_mecanum_drive_controller_preceding mecanum_drive_controller)
8282
ament_target_dependencies(
83-
test_mecanum_drive_controller_preceeding
83+
test_mecanum_drive_controller_preceding
8484
controller_interface
8585
hardware_interface
8686
)

‎mecanum_drive_controller/test/mecanum_drive_controller_preceeding_params.yaml renamed to ‎mecanum_drive_controller/test/mecanum_drive_controller_preceding_params.yaml

File renamed without changes.

‎mecanum_drive_controller/test/test_mecanum_drive_controller_preceeding.cpp renamed to ‎mecanum_drive_controller/test/test_mecanum_drive_controller_preceding.cpp

File renamed without changes.

‎steering_controllers_library/test/test_steering_controllers_library.hpp

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -307,13 +307,13 @@ class SteeringControllersLibraryFixture : public ::testing::Test
307307
traction_joints_names_[0], traction_joints_names_[1], steering_joints_names_[0],
308308
steering_joints_names_[1]};
309309

310-
std::vector<std::string> wheels_preceeding_names_ = {
310+
std::vector<std::string> wheels_preceding_names_ = {
311311
"pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"};
312-
std::vector<std::string> steers_preceeding_names_ = {
312+
std::vector<std::string> steers_preceding_names_ = {
313313
"pid_controller/front_right_steering_joint", "pid_controller/front_left_steering_joint"};
314-
std::vector<std::string> preceeding_joint_names_ = {
315-
wheels_preceeding_names_[0], wheels_preceeding_names_[1], steers_preceeding_names_[0],
316-
steers_preceeding_names_[1]};
314+
std::vector<std::string> preceding_joint_names_ = {
315+
wheels_preceding_names_[0], wheels_preceding_names_[1], steers_preceding_names_[0],
316+
steers_preceding_names_[1]};
317317

318318
std::array<double, 4> joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}};
319319
std::array<double, 4> joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}};
@@ -322,7 +322,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test
322322
std::string steering_interface_name_ = "position";
323323
// defined in setup
324324
std::string traction_interface_name_ = "";
325-
std::string preceeding_prefix_ = "pid_controller";
325+
std::string preceding_prefix_ = "pid_controller";
326326

327327
std::vector<hardware_interface::StateInterface> state_itfs_;
328328
std::vector<hardware_interface::CommandInterface> command_itfs_;

‎tricycle_steering_controller/CMakeLists.txt

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -72,12 +72,12 @@ if(BUILD_TESTING)
7272
)
7373

7474
add_rostest_with_parameters_gmock(
75-
test_tricycle_steering_controller_preceeding test/test_tricycle_steering_controller_preceeding.cpp
76-
${CMAKE_CURRENT_SOURCE_DIR}/test/tricycle_steering_controller_preceeding_params.yaml)
77-
target_include_directories(test_tricycle_steering_controller_preceeding PRIVATE include)
78-
target_link_libraries(test_tricycle_steering_controller_preceeding tricycle_steering_controller)
75+
test_tricycle_steering_controller_preceding test/test_tricycle_steering_controller_preceding.cpp
76+
${CMAKE_CURRENT_SOURCE_DIR}/test/tricycle_steering_controller_preceding_params.yaml)
77+
target_include_directories(test_tricycle_steering_controller_preceding PRIVATE include)
78+
target_link_libraries(test_tricycle_steering_controller_preceding tricycle_steering_controller)
7979
ament_target_dependencies(
80-
test_tricycle_steering_controller_preceeding
80+
test_tricycle_steering_controller_preceding
8181
controller_interface
8282
hardware_interface
8383
)

‎tricycle_steering_controller/test/test_tricycle_steering_controller.hpp

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -273,11 +273,11 @@ class TricycleSteeringControllerFixture : public ::testing::Test
273273
std::vector<std::string> joint_names_ = {
274274
traction_joints_names_[0], traction_joints_names_[1], steering_joints_names_[0]};
275275

276-
std::vector<std::string> wheels_preceeding_names_ = {
276+
std::vector<std::string> wheels_preceding_names_ = {
277277
"pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"};
278-
std::vector<std::string> steers_preceeding_names_ = {"pid_controller/steering_axis_joint"};
279-
std::vector<std::string> preceeding_joint_names_ = {
280-
wheels_preceeding_names_[0], wheels_preceeding_names_[1], steers_preceeding_names_[0]};
278+
std::vector<std::string> steers_preceding_names_ = {"pid_controller/steering_axis_joint"};
279+
std::vector<std::string> preceding_joint_names_ = {
280+
wheels_preceding_names_[0], wheels_preceding_names_[1], steers_preceding_names_[0]};
281281

282282
double wheelbase_ = 3.24644;
283283
double wheel_track_ = 1.212121;
@@ -290,7 +290,7 @@ class TricycleSteeringControllerFixture : public ::testing::Test
290290
std::string steering_interface_name_ = "position";
291291
// defined in setup
292292
std::string traction_interface_name_ = "";
293-
std::string preceeding_prefix_ = "pid_controller";
293+
std::string preceding_prefix_ = "pid_controller";
294294

295295
std::vector<hardware_interface::StateInterface> state_itfs_;
296296
std::vector<hardware_interface::CommandInterface> command_itfs_;

‎tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp renamed to ‎tricycle_steering_controller/test/test_tricycle_steering_controller_preceding.cpp

Lines changed: 5 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -30,11 +30,9 @@ TEST_F(TricycleSteeringControllerTest, all_parameters_set_configure_success)
3030
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
3131

3232
ASSERT_THAT(
33-
controller_->params_.traction_joints_names,
34-
testing::ElementsAreArray(wheels_preceeding_names_));
33+
controller_->params_.traction_joints_names, testing::ElementsAreArray(wheels_preceding_names_));
3534
ASSERT_THAT(
36-
controller_->params_.steering_joints_names,
37-
testing::ElementsAreArray(steers_preceeding_names_));
35+
controller_->params_.steering_joints_names, testing::ElementsAreArray(steers_preceding_names_));
3836
ASSERT_EQ(controller_->params_.open_loop, open_loop_);
3937
ASSERT_EQ(controller_->params_.velocity_rolling_window_size, velocity_rolling_window_size_);
4038
ASSERT_EQ(controller_->params_.position_feedback, position_feedback_);
@@ -53,13 +51,13 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)
5351
ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
5452
EXPECT_EQ(
5553
cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
56-
preceeding_prefix_ + "/" + traction_joints_names_[0] + "/" + traction_interface_name_);
54+
preceding_prefix_ + "/" + traction_joints_names_[0] + "/" + traction_interface_name_);
5755
EXPECT_EQ(
5856
cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
59-
preceeding_prefix_ + "/" + traction_joints_names_[1] + "/" + traction_interface_name_);
57+
preceding_prefix_ + "/" + traction_joints_names_[1] + "/" + traction_interface_name_);
6058
EXPECT_EQ(
6159
cmd_if_conf.names[CMD_STEER_WHEEL],
62-
preceeding_prefix_ + "/" + steering_joints_names_[0] + "/" + steering_interface_name_);
60+
preceding_prefix_ + "/" + steering_joints_names_[0] + "/" + steering_interface_name_);
6361
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
6462

6563
auto state_if_conf = controller_->state_interface_configuration();

‎tricycle_steering_controller/test/tricycle_steering_controller_preceeding_params.yaml renamed to ‎tricycle_steering_controller/test/tricycle_steering_controller_preceding_params.yaml

File renamed without changes.

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