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fzi-forschungszentrum-informatik · Jan 10, 2024 · de16202 · de16202
1 parent cd5ad89
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Showing 2 changed files with 25 additions and 22 deletions.
diff --git a/cartesian_controller_base/include/cartesian_controller_base/cartesian_controller_base.h b/cartesian_controller_base/include/cartesian_controller_base/cartesian_controller_base.h
@@ -181,7 +181,7 @@ class CartesianControllerBase : public controller_interface::ControllerInterface
    *
    * @return True if the controller is active, false otherwise
    */
-  bool isActive() const {return m_active;};
+  bool isActive() const { return m_active; };
 
   KDL::Chain m_robot_chain;
 

diff --git a/cartesian_controller_tests/integration_tests/integration_tests.py b/cartesian_controller_tests/integration_tests/integration_tests.py
@@ -155,44 +155,47 @@ def test_inputs_with_nans(self):
         The controllers' callbacks store them even when in inactive state after startup.
         We then check if every controller can be activated normally.
         """
+
         def publish_nan_targets():
             # Target pose
             target_pose = PoseStamped()
             target_pose.header.frame_id = "base_link"
-            target_pose.pose.position.x = float('nan')
-            target_pose.pose.position.y = float('nan')
-            target_pose.pose.position.z = float('nan')
-            target_pose.pose.orientation.x = float('nan')
-            target_pose.pose.orientation.y = float('nan')
-            target_pose.pose.orientation.z = float('nan')
-            target_pose.pose.orientation.w = float('nan')
+            target_pose.pose.position.x = float("nan")
+            target_pose.pose.position.y = float("nan")
+            target_pose.pose.position.z = float("nan")
+            target_pose.pose.orientation.x = float("nan")
+            target_pose.pose.orientation.y = float("nan")
+            target_pose.pose.orientation.z = float("nan")
+            target_pose.pose.orientation.w = float("nan")
             self.target_pose_pub.publish(target_pose)
 
             # Force-torque sensor
             ft_sensor_wrench = WrenchStamped()
-            ft_sensor_wrench.wrench.force.x = float('nan')
-            ft_sensor_wrench.wrench.force.y = float('nan')
-            ft_sensor_wrench.wrench.force.z = float('nan')
-            ft_sensor_wrench.wrench.torque.x = float('nan')
-            ft_sensor_wrench.wrench.torque.y = float('nan')
-            ft_sensor_wrench.wrench.torque.z = float('nan')
+            ft_sensor_wrench.wrench.force.x = float("nan")
+            ft_sensor_wrench.wrench.force.y = float("nan")
+            ft_sensor_wrench.wrench.force.z = float("nan")
+            ft_sensor_wrench.wrench.torque.x = float("nan")
+            ft_sensor_wrench.wrench.torque.y = float("nan")
+            ft_sensor_wrench.wrench.torque.z = float("nan")
             self.ft_sensor_wrench_pub.publish(ft_sensor_wrench)
 
             # Target wrench
             target_wrench = WrenchStamped()
-            target_wrench.wrench.force.x = float('nan')
-            target_wrench.wrench.force.y = float('nan')
-            target_wrench.wrench.force.z = float('nan')
-            target_wrench.wrench.torque.x = float('nan')
-            target_wrench.wrench.torque.y = float('nan')
-            target_wrench.wrench.torque.z = float('nan')
+            target_wrench.wrench.force.x = float("nan")
+            target_wrench.wrench.force.y = float("nan")
+            target_wrench.wrench.force.z = float("nan")
+            target_wrench.wrench.torque.x = float("nan")
+            target_wrench.wrench.torque.y = float("nan")
+            target_wrench.wrench.torque.z = float("nan")
             self.target_wrench_pub.publish(target_wrench)
 
         for name in self.our_controllers:
             self.start_controller(name)
             publish_nan_targets()
-            time.sleep(3) # process some update() cycles
-            self.assertTrue(self.check_state(name, 'active'), f"{name} survives inputs with NaNs")
+            time.sleep(3)  # process some update() cycles
+            self.assertTrue(
+                self.check_state(name, "active"), f"{name} survives inputs with NaNs"
+            )
             self.stop_controller(name)
 
     def check_state(self, controller, state):