update joint_state_controller rate test to account for extra publishe…

…d message
ros-controls · Oct 27, 2023 · 67b0e72 · 67b0e72
1 parent ae501ec
commit 67b0e72
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/joint_state_controller/test/joint_state_controller_test.cpp b/joint_state_controller/test/joint_state_controller_test.cpp
@@ -133,6 +133,7 @@ TEST_F(JointStateControllerTest, publishOk)
   // NOTE: Below we subtract the loop rate because the the published message gets picked up in the
   // next iteration's spinOnce()
   const ros::Duration real_test_duration = ros::Time::now() - start_time - loop_rate.expectedCycleTime();
+  rec_msgs_-=1; //joint_state_controller now publishes on first update(), leading to an extra message (ie. 11 message for 10 intervals)
   const double real_pub_rate = static_cast<double>(rec_msgs_) / real_test_duration.toSec();
 
   // The publish rate should be close to the nominal value