From f858bb146e1b386891b3dd84bd35deb98798fb7e Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 28 Dec 2023 22:26:27 +0000
Subject: [PATCH] Fix diff_drive URDF

---
 ...ontrollers_chaining_with_controller_manager.cpp | 14 +++++++-------
 .../ros2_control_test_assets/descriptions.hpp      |  4 ++--
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
index 0ebddd85e0b..a4bb0224fa7 100644
--- a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
+++ b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
@@ -128,18 +128,18 @@ class TestControllerChainingWithControllerManager
 
     // configure Left Wheel controller
     controller_interface::InterfaceConfiguration pid_left_cmd_ifs_cfg = {
-      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_left/velocity"}};
+      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_0_joint/velocity"}};
     controller_interface::InterfaceConfiguration pid_left_state_ifs_cfg = {
-      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_left/velocity"}};
+      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_0_joint/velocity"}};
     pid_left_wheel_controller->set_command_interface_configuration(pid_left_cmd_ifs_cfg);
     pid_left_wheel_controller->set_state_interface_configuration(pid_left_state_ifs_cfg);
     pid_left_wheel_controller->set_reference_interface_names({"velocity"});
 
     // configure Left Wheel controller
     controller_interface::InterfaceConfiguration pid_right_cmd_ifs_cfg = {
-      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_right/velocity"}};
+      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_1_joint/velocity"}};
     controller_interface::InterfaceConfiguration pid_right_state_ifs_cfg = {
-      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_right/velocity"}};
+      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_1_joint/velocity"}};
     pid_right_wheel_controller->set_command_interface_configuration(pid_right_cmd_ifs_cfg);
     pid_right_wheel_controller->set_state_interface_configuration(pid_right_state_ifs_cfg);
     pid_right_wheel_controller->set_reference_interface_names({"velocity"});
@@ -150,7 +150,7 @@ class TestControllerChainingWithControllerManager
       {std::string(PID_LEFT_WHEEL) + "/velocity", std::string(PID_RIGHT_WHEEL) + "/velocity"}};
     controller_interface::InterfaceConfiguration diff_drive_state_ifs_cfg = {
       controller_interface::interface_configuration_type::INDIVIDUAL,
-      {"wheel_left/velocity", "wheel_right/velocity"}};
+      {"wheel_0_joint/velocity", "wheel_1_joint/velocity"}};
     diff_drive_controller->set_command_interface_configuration(diff_drive_cmd_ifs_cfg);
     diff_drive_controller->set_state_interface_configuration(diff_drive_state_ifs_cfg);
     diff_drive_controller->set_reference_interface_names({"vel_x", "vel_y", "rot_z"});
@@ -435,8 +435,8 @@ class TestControllerChainingWithControllerManager
   const std::vector<std::string> DIFF_DRIVE_REFERENCE_INTERFACES = {
     "diff_drive_controller/vel_x", "diff_drive_controller/vel_y", "diff_drive_controller/rot_z"};
 
-  const std::vector<std::string> PID_LEFT_WHEEL_CLAIMED_INTERFACES = {"wheel_left/velocity"};
-  const std::vector<std::string> PID_RIGHT_WHEEL_CLAIMED_INTERFACES = {"wheel_right/velocity"};
+  const std::vector<std::string> PID_LEFT_WHEEL_CLAIMED_INTERFACES = {"wheel_0_joint/velocity"};
+  const std::vector<std::string> PID_RIGHT_WHEEL_CLAIMED_INTERFACES = {"wheel_1_joint/velocity"};
   const std::vector<std::string> DIFF_DRIVE_CLAIMED_INTERFACES = {
     "pid_left_wheel_controller/velocity", "pid_right_wheel_controller/velocity"};
   const std::vector<std::string> POSITION_CONTROLLER_CLAIMED_INTERFACES = {
diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
index bf7b6ec2b58..69950cb5931 100644
--- a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
+++ b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -515,7 +515,7 @@ const auto diffbot_urdf =
     <hardware>
       <plugin>test_actuator</plugin>
     </hardware>
-    <joint name="wheel_left">
+    <joint name="wheel_0_joint">
       <state_interface name="position"/>
       <command_interface name="velocity"/>
       <state_interface name="velocity"/>
@@ -525,7 +525,7 @@ const auto diffbot_urdf =
     <hardware>
       <plugin>test_actuator</plugin>
     </hardware>
-    <joint name="wheel_right">
+    <joint name="wheel_1_joint">
       <state_interface name="position"/>
       <command_interface name="velocity"/>
       <state_interface name="velocity"/>