Add a simple test with acceleration limits

ros-controls · Dec 3, 2024 · 9bc6d41 · 9bc6d41
1 parent ad9b3e6
commit 9bc6d41
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Showing 5 changed files with 421 additions and 299 deletions.
diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
@@ -60,7 +60,8 @@ if(BUILD_TESTING)
   find_package(ros2_control_test_assets REQUIRED)
 
   ament_add_gmock(test_diff_drive_controller
-    test/test_diff_drive_controller.cpp)
+    test/test_diff_drive_controller.cpp
+  )
   target_link_libraries(test_diff_drive_controller
     diff_drive_controller
   )
@@ -81,11 +82,6 @@ if(BUILD_TESTING)
     controller_manager
     ros2_control_test_assets
   )
-  ament_add_gmock(test_configure_diff_drive_controller test/test_configure_diff_drive_controller.cpp)
-  ament_target_dependencies(test_configure_diff_drive_controller
-    controller_manager
-    ros2_control_test_assets
-  )
 endif()
 
 install(

diff --git a/diff_drive_controller/test/config/test_diff_drive_controller_limits.yaml b/diff_drive_controller/test/config/test_diff_drive_controller_limits.yaml
diff --git a/diff_drive_controller/test/test_configure_diff_drive_controller.cpp b/diff_drive_controller/test/test_configure_diff_drive_controller.cpp