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Admittance with filters #560

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Merge branch 'master' into admittance-with-filters-rolling
  • Loading branch information
destogl authored Apr 13, 2023
commit 561099c7382799cc3ca738d96a723a6639dd48df
8 changes: 0 additions & 8 deletions admittance_controller/src/admittance_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -152,14 +152,6 @@ AdmittanceController::on_export_reference_interfaces()
controller_interface::CallbackReturn AdmittanceController::on_configure(
const rclcpp_lifecycle::State & /*previous_state*/)
{
if (!admittance_)
{
RCLCPP_ERROR(
get_node()->get_logger(),
"on_configure should not be called unless Init successfully completed");
return CallbackReturn::ERROR;
}

command_joint_names_ = admittance_->parameters_.command_joints;

if (command_joint_names_.empty())
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2 changes: 1 addition & 1 deletion admittance_controller/test/test_admittance_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
#include <vector>

// Test on_init returns ERROR when a required parameter is missing
TEST_P(AdmittanceControllerTestParameterizedMissingParameters, one_control_parameter_is_missing)
TEST_P(AdmittanceControllerTestParameterizedMissingParameters, one_init_parameter_is_missing)
{
ASSERT_EQ(SetUpController(GetParam()), controller_interface::return_type::ERROR);
}
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