Do some more variable renaming to the new nomenclature.

ros-controls · Aug 25, 2022 · 0970d01 · 0970d01
1 parent 9cee15a
commit 0970d01
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -837,7 +837,7 @@ controller_interface::return_type ControllerManager::switch_controller(
     // outdated. Keeping it up to date is not easy because of stopping controllers from multiple
     // threads maybe we should not at all cache this but always search for the related controllers
     // to a hardware when error in hardware happens
-    if (in_start_list)
+    if (in_activate_list)
     {
       std::vector<std::string> interface_names = {};
 
@@ -1718,7 +1718,7 @@ void ControllerManager::read(const rclcpp::Time & time, const rclcpp::Duration &
 
     std::vector<ControllerSpec> & rt_controller_list =
       rt_controllers_wrapper_.update_and_get_used_by_rt_list();
-    stop_controllers(rt_controller_list, stop_request);
+    deactivate_controllers(rt_controller_list, stop_request);
     // TODO(destogl): do auto-start of broadcasters
   }
 }
@@ -1788,7 +1788,7 @@ void ControllerManager::write(const rclcpp::Time & time, const rclcpp::Duration
 
     std::vector<ControllerSpec> & rt_controller_list =
       rt_controllers_wrapper_.update_and_get_used_by_rt_list();
-    stop_controllers(rt_controller_list, stop_request);
+    deactivate_controllers(rt_controller_list, stop_request);
     // TODO(destogl): do auto-start of broadcasters
   }
 }

diff --git a/hardware_interface/test/test_components/test_actuator.cpp b/hardware_interface/test/test_components/test_actuator.cpp
@@ -81,7 +81,7 @@ class TestActuator : public ActuatorInterface
     if (velocity_command_ == 28282828.0)
     {
       // reset value to get out from error on the next call - simplifies CM tests
-      position_command_ = 0.0;
+      velocity_command_ = 0.0;
       return return_type::ERROR;
     }
     // The next line is for the testing purposes. We need value to be changed to be sure that
@@ -98,7 +98,7 @@ class TestActuator : public ActuatorInterface
     if (velocity_command_ == 23232323.0)
     {
       // reset value to get out from error on the next call - simplifies CM tests
-      position_command_ = 0.0;
+      velocity_command_ = 0.0;
       return return_type::ERROR;
     }
     return return_type::OK;