diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
index 4800e69759..70b0daaef6 100644
--- a/joint_trajectory_controller/package.xml
+++ b/joint_trajectory_controller/package.xml
@@ -4,29 +4,24 @@
2.31.0
Controller for executing joint-space trajectories on a group of joints
Bence Magyar
- Jordan Palacios
- Karsten Knese
+ Dr. Denis Štogl
+ Christoph Froehlich
Apache License 2.0
ament_cmake
- angles
- pluginlib
- realtime_tools
-
- angles
- pluginlib
- realtime_tools
-
+ angles
backward_ros
controller_interface
control_msgs
control_toolbox
generate_parameter_library
hardware_interface
+ pluginlib
rclcpp
rclcpp_lifecycle
+ realtime_tools
rsl
tl_expected
trajectory_msgs
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
index 0cacfdaac5..ac7348724d 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -214,7 +214,7 @@ 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();
@@ -222,13 +222,13 @@ class TrajectoryControllerTest : public ::testing::Test
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});
}
}