Fix undeclared and wrong parameters in controllers. (#438)

* Add missing parameter declaration in the joint state broadcaster. * Fix unsensible test in IMU Sensor Broadcaster.
ros-controls · Sep 28, 2022 · 77a2c06 · 77a2c06
1 parent 9c81373
commit 77a2c06
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Showing 2 changed files with 7 additions and 9 deletions.
diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
@@ -102,29 +102,26 @@ void IMUSensorBroadcasterTest::subscribe_and_get_message(sensor_msgs::msg::Imu &
   ASSERT_TRUE(subscription->take(imu_msg, msg_info));
 }
 
-TEST_F(IMUSensorBroadcasterTest, SensorName_InterfaceNames_NotSet)
+TEST_F(IMUSensorBroadcasterTest, SensorName_FrameId_NotSet)
 {
   SetUpIMUBroadcaster();
 
   // configure failed
   ASSERT_EQ(imu_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR);
 }
 
-TEST_F(IMUSensorBroadcasterTest, SensorName_FrameId_NotSet)
+TEST_F(IMUSensorBroadcasterTest, SensorName_NotSet)
 {
   SetUpIMUBroadcaster();
 
-  // set the 'interface_names'
-  imu_broadcaster_->get_node()->set_parameter(
-    {"interface_names.angular_velocity.x", "imu_sensor/angular_velocity.x"});
-  imu_broadcaster_->get_node()->set_parameter(
-    {"interface_names.linear_acceleration.z", "imu_sensor/linear_acceleration.z"});
+  // set the 'frame_id'
+  imu_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});
 
-  // configure failed, 'frame_id' parameter not set
+  // configure failed, 'sensor_name' parameter not set
   ASSERT_EQ(imu_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR);
 }
 
-TEST_F(IMUSensorBroadcasterTest, InterfaceNames_FrameId_NotSet)
+TEST_F(IMUSensorBroadcasterTest, FrameId_NotSet)
 {
   SetUpIMUBroadcaster();
 

diff --git a/joint_state_broadcaster/src/joint_state_broadcaster.cpp b/joint_state_broadcaster/src/joint_state_broadcaster.cpp
@@ -53,6 +53,7 @@ controller_interface::CallbackReturn JointStateBroadcaster::on_init()
     auto_declare<bool>("use_local_topics", false);
     auto_declare<std::vector<std::string>>("joints", std::vector<std::string>({}));
     auto_declare<std::vector<std::string>>("interfaces", std::vector<std::string>({}));
+    auto_declare<std::vector<std::string>>("extra_joints", std::vector<std::string>({}));
     auto_declare<std::string>(
       std::string("map_interface_to_joint_state.") + HW_IF_POSITION, HW_IF_POSITION);
     auto_declare<std::string>(