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Fix steering_controllers_library docs and msg field #1733

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Merged
merged 4 commits into from
Jun 5, 2025
Merged

Fix steering_controllers_library docs and msg field #1733

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2b8972c
Update docs
christophfroehlich Jun 4, 2025
351fcf9
Rename message field
christophfroehlich Jun 4, 2025
5f8b3c1
temp: use control_msgs branch
christophfroehlich Jun 4, 2025
ad333de
Update ros2_controllers.rolling.repos
bmagyar Jun 5, 2025
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9 changes: 4 additions & 5 deletions ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -249,8 +249,8 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
ControllerStateMsg msg;
subscribe_and_get_messages(msg);

EXPECT_EQ(msg.linear_velocity_command[STATE_TRACTION_RIGHT_WHEEL], 1.1);
EXPECT_EQ(msg.linear_velocity_command[STATE_TRACTION_LEFT_WHEEL], 3.3);
EXPECT_EQ(msg.traction_command[STATE_TRACTION_RIGHT_WHEEL], 1.1);
EXPECT_EQ(msg.traction_command[STATE_TRACTION_LEFT_WHEEL], 3.3);
EXPECT_EQ(msg.steering_angle_command[0], 2.2);
EXPECT_EQ(msg.steering_angle_command[1], 4.4);

Expand Down Expand Up @@ -279,9 +279,8 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat

// we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
EXPECT_NEAR(
msg.linear_velocity_command[CMD_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
EXPECT_NEAR(
msg.linear_velocity_command[CMD_TRACTION_LEFT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
msg.traction_command[CMD_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
EXPECT_NEAR(msg.traction_command[CMD_TRACTION_LEFT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
EXPECT_NEAR(msg.steering_angle_command[0], 1.4179821977774734, COMMON_THRESHOLD);
EXPECT_NEAR(msg.steering_angle_command[1], 1.4179821977774734, COMMON_THRESHOLD);
}
Expand Down
4 changes: 2 additions & 2 deletions bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
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Expand Up @@ -234,7 +234,7 @@ TEST_F(BicycleSteeringControllerTest, receive_message_and_publish_updated_status
ControllerStateMsg msg;
subscribe_and_get_messages(msg);

EXPECT_EQ(msg.linear_velocity_command[0], 1.1);
EXPECT_EQ(msg.traction_command[0], 1.1);
EXPECT_EQ(msg.steering_angle_command[0], 2.2);

publish_commands(0.1, 0.2);
Expand All @@ -252,7 +252,7 @@ TEST_F(BicycleSteeringControllerTest, receive_message_and_publish_updated_status

subscribe_and_get_messages(msg);

EXPECT_NEAR(msg.linear_velocity_command[0], 0.1 / 0.45, COMMON_THRESHOLD);
EXPECT_NEAR(msg.traction_command[0], 0.1 / 0.45, COMMON_THRESHOLD);
EXPECT_NEAR(msg.steering_angle_command[0], 1.4179821977774734, COMMON_THRESHOLD);
}

Expand Down
4 changes: 2 additions & 2 deletions steering_controllers_library/doc/userdoc.rst
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Expand Up @@ -64,7 +64,7 @@ Command interfaces
,,,,,,,,,,,,,,,,,,,

- ``<steering_joints_names[i]>/position`` double, in rad
- ``<traction_joints_names[i]>/velocity`` double, in m/s
- ``<traction_joints_names[i]>/velocity`` double, in rad/s

State interfaces
,,,,,,,,,,,,,,,,,
Expand All @@ -77,7 +77,7 @@ Depending on the ``position_feedback``, different feedback types are expected
With the following state interfaces:

- ``<steering_joints_names[i]>/position`` double, in rad
- ``<traction_joints_names[i]>/<TRACTION_FEEDBACK_TYPE>`` double, in m or m/s
- ``<traction_joints_names[i]>/<TRACTION_FEEDBACK_TYPE>`` double, in rad or rad/s

Subscribers
,,,,,,,,,,,,
Expand Down
4 changes: 2 additions & 2 deletions steering_controllers_library/src/steering_controllers_library.cpp
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Expand Up @@ -617,7 +617,7 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c
controller_state_publisher_->msg_.header.stamp = time;
controller_state_publisher_->msg_.traction_wheels_position.clear();
controller_state_publisher_->msg_.traction_wheels_velocity.clear();
controller_state_publisher_->msg_.linear_velocity_command.clear();
controller_state_publisher_->msg_.traction_command.clear();
controller_state_publisher_->msg_.steer_positions.clear();
controller_state_publisher_->msg_.steering_angle_command.clear();

Expand All @@ -636,7 +636,7 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c
controller_state_publisher_->msg_.traction_wheels_velocity.push_back(
state_interfaces_[i].get_value());
}
controller_state_publisher_->msg_.linear_velocity_command.push_back(
controller_state_publisher_->msg_.traction_command.push_back(
command_interfaces_[i].get_value());
}

Expand Down
8 changes: 4 additions & 4 deletions tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -235,8 +235,8 @@ TEST_F(TricycleSteeringControllerTest, receive_message_and_publish_updated_statu
ControllerStateMsg msg;
subscribe_and_get_messages(msg);

EXPECT_EQ(msg.linear_velocity_command[STATE_TRACTION_RIGHT_WHEEL], 1.1);
EXPECT_EQ(msg.linear_velocity_command[STATE_TRACTION_LEFT_WHEEL], 3.3);
EXPECT_EQ(msg.traction_command[STATE_TRACTION_RIGHT_WHEEL], 1.1);
EXPECT_EQ(msg.traction_command[STATE_TRACTION_LEFT_WHEEL], 3.3);
EXPECT_EQ(msg.steering_angle_command[0], 2.2);

publish_commands();
Expand All @@ -261,9 +261,9 @@ TEST_F(TricycleSteeringControllerTest, receive_message_and_publish_updated_statu

// we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
EXPECT_NEAR(
msg.linear_velocity_command[STATE_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
msg.traction_command[STATE_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
EXPECT_NEAR(
msg.linear_velocity_command[STATE_TRACTION_LEFT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
msg.traction_command[STATE_TRACTION_LEFT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
EXPECT_NEAR(msg.steering_angle_command[0], 1.4179821977774734, COMMON_THRESHOLD);
}

Expand Down
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