pass robot_description at controller init

ros-controls · Nov 6, 2024 · 45e37e9 · 45e37e9
1 parent 8046a1a
commit 45e37e9
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Showing 2 changed files with 4 additions and 9 deletions.
diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
@@ -60,9 +60,7 @@ controller_interface::return_type AdmittanceRule::configure(
         kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
 
       if (!kinematics_->initialize(
-            robot_description,
-            node->get_node_parameters_interface(),
-            "kinematics"))
+            robot_description, node->get_node_parameters_interface(), "kinematics"))
       {
         return controller_interface::return_type::ERROR;
       }

diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -102,18 +102,14 @@ class TestableAdmittanceController : public admittance_controller::AdmittanceCon
     }
   }
 
-private:
   const std::string robot_description_ = ros2_control_test_assets::valid_6d_robot_urdf;
   const std::string robot_description_semantic_ = ros2_control_test_assets::valid_6d_robot_srdf;
 };
 
 class AdmittanceControllerTest : public ::testing::Test
 {
 public:
-  static void SetUpTestCase()
-  {
-    //    rclcpp::init(0, nullptr);
-  }
+  static void SetUpTestCase() {}
 
   void SetUp()
   {
@@ -163,7 +159,8 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result = controller_->init(controller_name, "", 0, "", options);
+    auto result =
+      controller_->init(controller_name, controller_->robot_description_, 0, "", options);
 
     controller_->export_reference_interfaces();
     assign_interfaces();