Revert changes to Servo limits test

moveit · Apr 19, 2021 · 5c3db91 · 5c3db91
1 parent 97ae05b
commit 5c3db91
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/moveit_ros/moveit_servo/test/unit_test_servo_calcs.cpp b/moveit_ros/moveit_servo/test/unit_test_servo_calcs.cpp
@@ -360,17 +360,17 @@ TEST_F(ServoCalcsTestFixture, TestEnforceVelLimits)
   for (size_t i = 0; i < 7; ++i)
   {
     // We need to check vs radians-per-loop allowable rate (not rad/s)
-    EXPECT_GE(desired_velocity[i], vel_limits[i] * servo_calcs_->parameters_->publish_period);
+    EXPECT_LE(desired_velocity[i], vel_limits[i] * servo_calcs_->parameters_->publish_period);
   }
 
-  // Let's check the negative velocities too
+  // Let's check negative velocities limits too
   desired_velocity *= -1;
   servo_calcs_->prev_joint_velocity_ = desired_velocity;
   servo_calcs_->enforceVelLimits(desired_velocity);
   for (size_t i = 0; i < 7; ++i)
   {
     // We need to check vs radians-per-loop allowable rate (not rad/s)
-    EXPECT_LE(desired_velocity[i], -1 * vel_limits[i] * servo_calcs_->parameters_->publish_period);
+    EXPECT_GE(desired_velocity[i], -1 * vel_limits[i] * servo_calcs_->parameters_->publish_period);
   }
 }