[JTC] Fix test_tolerances_via_actions (#1209)

ros-controls · Jul 16, 2024 · 0bb8880 · 0bb8880
1 parent 12b5310
commit 0bb8880
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/joint_trajectory_controller/test/test_tolerances.cpp b/joint_trajectory_controller/test/test_tolerances.cpp
@@ -32,14 +32,14 @@ using trajectory_msgs::msg::JointTrajectoryPoint;
 std::vector<std::string> joint_names_ = {"joint1", "joint2", "joint3"};
 
 control_msgs::action::FollowJointTrajectory_Goal prepareGoalMsg(
-  const std::vector<JointTrajectoryPoint> & points, double timeout,
+  const std::vector<JointTrajectoryPoint> & points, double goal_time_tolerance,
   const std::vector<control_msgs::msg::JointTolerance> path_tolerance =
     std::vector<control_msgs::msg::JointTolerance>(),
   const std::vector<control_msgs::msg::JointTolerance> goal_tolerance =
     std::vector<control_msgs::msg::JointTolerance>())
 {
   control_msgs::action::FollowJointTrajectory_Goal goal_msg;
-  goal_msg.goal_time_tolerance = rclcpp::Duration::from_seconds(timeout);
+  goal_msg.goal_time_tolerance = rclcpp::Duration::from_seconds(goal_time_tolerance);
   goal_msg.goal_tolerance = goal_tolerance;
   goal_msg.path_tolerance = path_tolerance;
   goal_msg.trajectory.joint_names = joint_names_;

diff --git a/joint_trajectory_controller/test/test_trajectory_actions.cpp b/joint_trajectory_controller/test/test_trajectory_actions.cpp
@@ -153,14 +153,15 @@ class TestTrajectoryActions : public TrajectoryControllerTest
   using GoalOptions = rclcpp_action::Client<FollowJointTrajectoryMsg>::SendGoalOptions;
 
   std::shared_future<typename GoalHandle::SharedPtr> sendActionGoal(
-    const std::vector<JointTrajectoryPoint> & points, double timeout, const GoalOptions & opt,
+    const std::vector<JointTrajectoryPoint> & points, double goal_time_tolerance,
+    const GoalOptions & opt,
     const std::vector<control_msgs::msg::JointTolerance> path_tolerance =
       std::vector<control_msgs::msg::JointTolerance>(),
     const std::vector<control_msgs::msg::JointTolerance> goal_tolerance =
       std::vector<control_msgs::msg::JointTolerance>())
   {
     control_msgs::action::FollowJointTrajectory_Goal goal_msg;
-    goal_msg.goal_time_tolerance = rclcpp::Duration::from_seconds(timeout);
+    goal_msg.goal_time_tolerance = rclcpp::Duration::from_seconds(goal_time_tolerance);
     goal_msg.goal_tolerance = goal_tolerance;
     goal_msg.path_tolerance = path_tolerance;
     goal_msg.trajectory.joint_names = joint_names_;
@@ -529,7 +530,7 @@ TEST_F(TestTrajectoryActions, test_tolerances_via_actions)
       point.positions[2] = 3.0;
       points.push_back(point);
 
-      gh_future = sendActionGoal(points, 1.0, goal_options_);
+      gh_future = sendActionGoal(points, 0.0, goal_options_);
     }
     controller_hw_thread_.join();
 
@@ -539,7 +540,6 @@ TEST_F(TestTrajectoryActions, test_tolerances_via_actions)
       control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL, common_action_result_code_);
 
     auto active_tolerances = traj_controller_->get_active_tolerances();
-    EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, 1.0);
     expectDefaultTolerances(active_tolerances);
   }
 
@@ -639,7 +639,7 @@ TEST_F(TestTrajectoryActions, test_tolerances_via_actions)
       point.positions[2] = 3.0;
       points.push_back(point);
 
-      gh_future = sendActionGoal(points, 1.0, goal_options_);
+      gh_future = sendActionGoal(points, 0.0, goal_options_);
     }
     controller_hw_thread_.join();
 
@@ -649,7 +649,6 @@ TEST_F(TestTrajectoryActions, test_tolerances_via_actions)
       control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL, common_action_result_code_);
 
     auto active_tolerances = traj_controller_->get_active_tolerances();
-    EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, 1.0);
     expectDefaultTolerances(active_tolerances);
   }
 }

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -46,6 +46,7 @@ const double stopped_velocity_tolerance = 0.1;
   joint_trajectory_controller::SegmentTolerances active_tolerances)
 {
   EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time);
+
   // acceleration is never set, and goal_state_tolerance.velocity from stopped_velocity_tolerance
 
   ASSERT_EQ(active_tolerances.state_tolerance.size(), 3);