fix: rename TF frames to not interfere with components

aica-technology · Dec 5, 2024 · 33c77f7 · 33c77f7
1 parent 35283ae
commit 33c77f7
Showing 1 changed file with 9 additions and 8 deletions.
diff --git a/source/modulo_controllers/test/test_controller_interface.cpp b/source/modulo_controllers/test/test_controller_interface.cpp
@@ -223,41 +223,42 @@ TYPED_TEST_P(ControllerInterfaceTest, TF) {
   EXPECT_THROW(this->interface_->add_tf_broadcaster(), modulo_core::exceptions::CoreException);
   EXPECT_THROW(this->interface_->add_static_tf_broadcaster(), modulo_core::exceptions::CoreException);
   EXPECT_THROW(this->interface_->add_tf_listener(), modulo_core::exceptions::CoreException);
-  auto send_early_tf = state_representation::CartesianPose::Random("test", "world");
+  auto send_early_tf = state_representation::CartesianPose::Random("controller_test", "world");
   EXPECT_THROW(this->interface_->send_transform(send_early_tf), modulo_core::exceptions::CoreException);
   this->init();
   this->interface_->add_tf_broadcaster();
   this->interface_->add_static_tf_broadcaster();
   this->interface_->add_tf_listener();
-  auto send_tf = state_representation::CartesianPose::Random("test", "world");
+  auto send_tf = state_representation::CartesianPose::Random("controller_test", "world");
   EXPECT_NO_THROW(this->interface_->send_transform(send_tf));
   sleep(1);
   state_representation::CartesianPose lookup_tf;
-  EXPECT_NO_THROW(lookup_tf = this->interface_->lookup_transform("test", "world"));
+  EXPECT_NO_THROW(lookup_tf = this->interface_->lookup_transform("controller_test", "world"));
   auto identity = send_tf * lookup_tf.inverse();
   EXPECT_FLOAT_EQ(identity.data().norm(), 1.);
   EXPECT_FLOAT_EQ(abs(identity.get_orientation().w()), 1.);
 
   sleep(1);
   EXPECT_THROW(
-      lookup_tf = this->interface_->lookup_transform("test", "world", 0.9),
+      lookup_tf = this->interface_->lookup_transform("controller_test", "world", 0.1),
       modulo_core::exceptions::LookupTransformException);
 
-  auto send_static_tf = state_representation::CartesianPose::Random("static_test", "world");
+  auto send_static_tf = state_representation::CartesianPose::Random("controller_static_test", "world");
   EXPECT_NO_THROW(this->interface_->send_static_transform(send_static_tf));
   EXPECT_THROW(
       auto throw_tf = this->interface_->lookup_transform("dummy", "world"),
       modulo_core::exceptions::LookupTransformException);
 
-  EXPECT_NO_THROW(lookup_tf = this->interface_->lookup_transform("static_test", "world"));
+  EXPECT_NO_THROW(lookup_tf = this->interface_->lookup_transform("controller_static_test", "world"));
   identity = send_static_tf * lookup_tf.inverse();
   EXPECT_FLOAT_EQ(identity.data().norm(), 1.);
   EXPECT_FLOAT_EQ(abs(identity.get_orientation().w()), 1.);
 
   std::vector<state_representation::CartesianPose> send_tfs;
   send_tfs.reserve(3);
   for (std::size_t idx = 0; idx < 3; ++idx) {
-    send_tfs.emplace_back(state_representation::CartesianPose::Random("test_" + std::to_string(idx), "world"));
+    send_tfs.emplace_back(
+        state_representation::CartesianPose::Random("controller_test_" + std::to_string(idx), "world"));
   }
   EXPECT_NO_THROW(this->interface_->send_transforms(send_tfs));
   for (const auto& tf : send_tfs) {
@@ -271,7 +272,7 @@ TYPED_TEST_P(ControllerInterfaceTest, TF) {
   send_static_tfs.reserve(3);
   for (std::size_t idx = 0; idx < 3; ++idx) {
     send_static_tfs.emplace_back(
-        state_representation::CartesianPose::Random("test_static_" + std::to_string(idx), "world"));
+        state_representation::CartesianPose::Random("controller_test_static_" + std::to_string(idx), "world"));
   }
   EXPECT_NO_THROW(this->interface_->send_static_transforms(send_static_tfs));
   for (const auto& tf : send_static_tfs) {