Fix the tests of the bicycle steering controller

ros-controls · Feb 13, 2025 · 9ffd350 · 9ffd350
1 parent 35ae062
commit 9ffd350
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Showing 3 changed files with 19 additions and 14 deletions.
diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
@@ -12,12 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "test_bicycle_steering_controller.hpp"
-
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "test_bicycle_steering_controller.hpp"
+
 class BicycleSteeringControllerTest
 : public BicycleSteeringControllerFixture<TestableBicycleSteeringController>
 {
@@ -71,11 +72,13 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
   ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
   for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
   {
-    const std::string ref_itf_name =
+    const std::string ref_itf_prefix_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(
+      reference_interfaces[i]->get_name(),
+      ref_itf_prefix_name + "/" + hardware_interface::HW_IF_VELOCITY);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), ref_itf_prefix_name);
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), hardware_interface::HW_IF_VELOCITY);
   }
 }
 

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -263,8 +263,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 
   std::array<double, 2> joint_state_values_ = {{3.3, 0.5}};
   std::array<double, 2> joint_command_values_ = {{1.1, 2.2}};
-  std::array<std::string, 2> joint_reference_interfaces_ = {
-    {"linear/velocity", "angular/velocity"}};
+  std::array<std::string, 2> joint_reference_interfaces_ = {{"linear", "angular"}};
   std::string steering_interface_name_ = "position";
 
   // defined in setup

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp
@@ -12,12 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "test_bicycle_steering_controller.hpp"
-
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "test_bicycle_steering_controller.hpp"
+
 class BicycleSteeringControllerTest
 : public BicycleSteeringControllerFixture<TestableBicycleSteeringController>
 {
@@ -75,11 +76,13 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
   ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
   for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
   {
-    const std::string ref_itf_name =
+    const std::string ref_itf_prefix_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(
+      reference_interfaces[i]->get_name(),
+      ref_itf_prefix_name + "/" + hardware_interface::HW_IF_VELOCITY);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), ref_itf_prefix_name);
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), hardware_interface::HW_IF_VELOCITY);
   }
 }