Cleanup package.xml und clarify tests of JTC. (backport #889) (#924)

ros-controls · Jan 12, 2024 · e08dcb9 · e08dcb9
1 parent 42766fe
commit e08dcb9
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Showing 2 changed files with 9 additions and 14 deletions.
diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -4,29 +4,24 @@
   <version>2.31.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Jordan Palacios</maintainer>
-  <maintainer email="[email protected]">Karsten Knese</maintainer>
+  <maintainer email="[email protected]">Dr. Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
 
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>angles</build_depend>
-  <build_depend>pluginlib</build_depend>
-  <build_depend>realtime_tools</build_depend>
-
-  <exec_depend>angles</exec_depend>
-  <exec_depend>pluginlib</exec_depend>
-  <exec_depend>realtime_tools</exec_depend>
-
+  <depend>angles</depend>
   <depend>backward_ros</depend>
   <depend>controller_interface</depend>
   <depend>control_msgs</depend>
   <depend>control_toolbox</depend>
   <depend>generate_parameter_library</depend>
   <depend>hardware_interface</depend>
+  <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>realtime_tools</depend>
   <depend>rsl</depend>
   <depend>tl_expected</depend>
   <depend>trajectory_msgs</depend>

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -214,21 +214,21 @@ class TrajectoryControllerTest : public ::testing::Test
   }
 
   void SetPidParameters(
-    double p_default = 0.0, double ff_default = 1.0, bool angle_wraparound_default = false)
+    double p_value = 0.0, double ff_value = 1.0, bool angle_wraparound_value = false)
   {
     traj_controller_->trigger_declare_parameters();
     auto node = traj_controller_->get_node();
 
     for (size_t i = 0; i < joint_names_.size(); ++i)
     {
       const std::string prefix = "gains." + joint_names_[i];
-      const rclcpp::Parameter k_p(prefix + ".p", p_default);
+      const rclcpp::Parameter k_p(prefix + ".p", p_value);
       const rclcpp::Parameter k_i(prefix + ".i", 0.0);
       const rclcpp::Parameter k_d(prefix + ".d", 0.0);
       const rclcpp::Parameter i_clamp(prefix + ".i_clamp", 0.0);
-      const rclcpp::Parameter ff_velocity_scale(prefix + ".ff_velocity_scale", ff_default);
+      const rclcpp::Parameter ff_velocity_scale(prefix + ".ff_velocity_scale", ff_value);
       const rclcpp::Parameter angle_wraparound(
-        prefix + ".angle_wraparound", angle_wraparound_default);
+        prefix + ".angle_wraparound", angle_wraparound_value);
       node->set_parameters({k_p, k_i, k_d, i_clamp, ff_velocity_scale, angle_wraparound});
     }
   }