Fixup tests.

ros-controls · Aug 20, 2022 · 61b3727 · 61b3727
1 parent 1b68b47
commit 61b3727
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -57,7 +57,7 @@ controller_interface::CallbackReturn JointTrajectoryController::on_init()
     // with the lifecycle node being initialized, we can declare parameters
     joint_names_ = auto_declare<std::vector<std::string>>("joints", joint_names_);
     command_joint_names_ =
-      auto_declare<std::vector<std::string>>("command_joints", command_interface_types_);
+      auto_declare<std::vector<std::string>>("command_joints", command_joint_names_);
     command_interface_types_ =
       auto_declare<std::vector<std::string>>("command_interfaces", command_interface_types_);
     state_interface_types_ =

diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -160,7 +160,7 @@ TEST_P(TrajectoryControllerTestParameterized, check_interface_names_with_command
 
   std::vector<std::string> command_interface_names;
   command_interface_names.reserve(command_joint_names_.size() * command_interface_types_.size());
-  for (const auto & joint : joint_names_)
+  for (const auto & joint : command_joint_names_)
   {
     for (const auto & interface : command_interface_types_)
     {