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Increase margin for state_publish_rate #1430

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merged 1 commit into from
Dec 23, 2024
Merged

Increase margin for state_publish_rate #1430

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10 changes: 5 additions & 5 deletions joint_trajectory_controller/test/test_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -880,7 +880,7 @@ void TrajectoryControllerTest::test_state_publish_rate_target(int target_msg_cou
}

// We may miss the last message since time allowed is exactly the time needed
EXPECT_NEAR(target_msg_count, echo_received_counter, 1);
EXPECT_NEAR(target_msg_count, echo_received_counter, 2);

executor.cancel();
}
Expand All @@ -893,10 +893,10 @@ TEST_P(TrajectoryControllerTestParameterized, test_state_publish_rate)
test_state_publish_rate_target(10);
}

// TEST_P(TrajectoryControllerTestParameterized, zero_state_publish_rate)
// {
// test_state_publish_rate_target(0);
// }
TEST_P(TrajectoryControllerTestParameterized, test_lower_state_publish_rate)
{
test_state_publish_rate_target(1);
}

/**
* @brief check if use_closed_loop_pid is active
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