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Add velocity feedforward term to velocity HardwareInterfaceAdapter #227

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merged 8 commits into from
Dec 24, 2017
Merged

Add velocity feedforward term to velocity HardwareInterfaceAdapter #227

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f10f05c
Add velocity feedforward term to HardwareInterfaceAdapter for velocit…
miguelprada Jun 15, 2016
a4c56e3
Add parameter to control velocity feedforward term.
miguelprada Jul 19, 2016
5b00a3b
Add tests for use_velocity_ff.
miguelprada May 12, 2017
8584132
Fix inconsistency.
miguelprada May 12, 2017
906b85d
Make velocity feedforward a 'double' param, instead of bool, and use …
miguelprada Nov 21, 2017
45a14ff
Refactor common code into common base class
miguelprada Dec 18, 2017
79bf8d1
Avoid building velocity interface-specific tests for position test ex…
miguelprada Dec 18, 2017
8313f63
Properly handle TEST_VELOCITY_FF=0 case in conditional build
miguelprada Dec 18, 2017
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3 changes: 2 additions & 1 deletion joint_trajectory_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ add_library(${PROJECT_NAME} src/joint_trajectory_controller.cpp
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

if(CATKIN_ENABLE_TESTING)
find_package(catkin
find_package(catkin
REQUIRED COMPONENTS
actionlib
controller_manager
Expand Down Expand Up @@ -100,6 +100,7 @@ if(CATKIN_ENABLE_TESTING)
test/joint_trajectory_controller_vel.test
test/joint_trajectory_controller_test.cpp)
target_link_libraries(joint_trajectory_controller_vel_test ${catkin_LIBRARIES})
target_compile_definitions(joint_trajectory_controller_vel_test PRIVATE TEST_VELOCITY_FF=1)

add_rostest_gtest(joint_trajectory_controller_wrapping_test
test/joint_trajectory_controller_wrapping.test
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3 changes: 1 addition & 2 deletions joint_trajectory_controller/test/joint_trajectory_controller.test
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Expand Up @@ -35,6 +35,5 @@
<test test-name="joint_trajectory_controller_test"
pkg="joint_trajectory_controller"
type="joint_trajectory_controller_test"
time-limit="85.0"
args="--gtest_filter=-JointTrajectoryControllerTest.jointVelocityFeedForward"/>
time-limit="85.0"/>
</launch>
4 changes: 4 additions & 0 deletions joint_trajectory_controller/test/joint_trajectory_controller_test.cpp
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Expand Up @@ -981,6 +981,9 @@ TEST_F(JointTrajectoryControllerTest, ignorePartiallyOldActionTraj)
}

// Velocity FF parameter ///////////////////////////////////////////////////////////////////////////////////////////////
// This test will only be built and run for the VelocityJointInterface-based version of the JointTrajectoryController

#ifdef TEST_VELOCITY_FF
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Please consider #if TEST_VELOCITY_FF to handle TEST_VELOCITY_FF=0 as well.

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Just noticed this comment. Updated.


TEST_F(JointTrajectoryControllerTest, jointVelocityFeedForward)
{
Expand Down Expand Up @@ -1027,6 +1030,7 @@ TEST_F(JointTrajectoryControllerTest, jointVelocityFeedForward)
ASSERT_TRUE(action_client->waitForServer(long_timeout));
}

#endif // TEST_VELOCITY_FF

// Tolerance checking //////////////////////////////////////////////////////////////////////////////////////////////////

Expand Down