From 4f0702208c8ec90e14f6556b616b4ce8f940d7bf Mon Sep 17 00:00:00 2001 From: Aditya Pawar Date: Tue, 25 Mar 2025 00:03:31 +0530 Subject: [PATCH 1/8] Extend odometry tests for steering controllers --- .../test_steering_controllers_library.cpp | 34 +++++++++++++++++++ 1 file changed, 34 insertions(+) diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp index 10a0f00376..28c1f17e9a 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.cpp +++ b/steering_controllers_library/test/test_steering_controllers_library.cpp @@ -123,6 +123,10 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) // case 1 position_feedback = false controller_->params_.position_feedback = false; + // pre odometry values + auto pre_odom_x_1 = controller_->odometry_.get_x(); + auto pre_odom_y_1 = controller_->odometry_.get_y(); + // age_of_last_command > ref_timeout_ ASSERT_FALSE(age_of_last_command <= controller_->ref_timeout_); ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->twist.linear.x, TEST_LINEAR_VELOCITY_X); @@ -130,6 +134,16 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); + // post odometry values + auto post_odom_x_1 = controller_->odometry_.get_x(); + auto post_odom_y_1 = controller_->odometry_.get_y(); + + const double position_tolerance = 1e-5; + + // Position should remain stable + EXPECT_NEAR(pre_odom_x_1, post_odom_x_1, position_tolerance); + EXPECT_NEAR(pre_odom_y_1, post_odom_y_1, position_tolerance); + EXPECT_TRUE(std::isnan(controller_->reference_interfaces_[0])); EXPECT_TRUE(std::isnan(controller_->reference_interfaces_[1])); for (const auto & interface : controller_->reference_interfaces_) @@ -153,9 +167,17 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) EXPECT_NEAR(controller_->command_interfaces_[2].get_value(), 0.575875, 1e-6); EXPECT_NEAR(controller_->command_interfaces_[3].get_value(), 0.575875, 1e-6); + // Linear and angular velocity should be reset to zero + EXPECT_DOUBLE_EQ(controller_->odometry_.get_linear(), 0.0); + EXPECT_DOUBLE_EQ(controller_->odometry_.get_angular(), 0.0); + // case 2 position_feedback = true controller_->params_.position_feedback = true; + // pre odometry values + auto pre_odom_x_2 = controller_->odometry_.get_x(); + auto pre_odom_y_2 = controller_->odometry_.get_y(); + // adjusting to achieve age_of_last_command > ref_timeout msg->header.stamp = controller_->get_node()->now() - controller_->ref_timeout_ - rclcpp::Duration::from_seconds(0.1); @@ -167,6 +189,14 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) msg->twist.angular.z = TEST_ANGULAR_VELOCITY_Z; controller_->input_ref_.writeFromNonRT(msg); + // post odometry values + auto post_odom_x_2 = controller_->odometry_.get_x(); + auto post_odom_y_2 = controller_->odometry_.get_y(); + + // Position should remain stable + EXPECT_NEAR(pre_odom_x_2, post_odom_x_2, position_tolerance); + EXPECT_NEAR(pre_odom_y_2, post_odom_y_2, position_tolerance); + // age_of_last_command > ref_timeout_ ASSERT_FALSE(age_of_last_command <= controller_->ref_timeout_); ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->twist.linear.x, TEST_LINEAR_VELOCITY_X); @@ -196,6 +226,10 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) // Steer angles should not reset EXPECT_NEAR(controller_->command_interfaces_[2].get_value(), 0.575875, 1e-6); EXPECT_NEAR(controller_->command_interfaces_[3].get_value(), 0.575875, 1e-6); + + // Linear and angular velocity should be reset to zero + EXPECT_DOUBLE_EQ(controller_->odometry_.get_linear(), 0.0); + EXPECT_DOUBLE_EQ(controller_->odometry_.get_angular(), 0.0); } int main(int argc, char ** argv) From 618c36d97eb7f508f8da3c4eb07672dfe8eca7a9 Mon Sep 17 00:00:00 2001 From: Aditya Pawar Date: Tue, 25 Mar 2025 09:14:46 +0000 Subject: [PATCH 2/8] Updated the post_odom sequence and added last velocities check --- .../test_steering_controllers_library.cpp | 24 ++++++++++++++----- 1 file changed, 18 insertions(+), 6 deletions(-) diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp index 28c1f17e9a..25587e172c 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.cpp +++ b/steering_controllers_library/test/test_steering_controllers_library.cpp @@ -126,6 +126,7 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) // pre odometry values auto pre_odom_x_1 = controller_->odometry_.get_x(); auto pre_odom_y_1 = controller_->odometry_.get_y(); + auto pre_odom_heading_1 = controller_->odometry_->get_heading(); // age_of_last_command > ref_timeout_ ASSERT_FALSE(age_of_last_command <= controller_->ref_timeout_); @@ -137,12 +138,17 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) // post odometry values auto post_odom_x_1 = controller_->odometry_.get_x(); auto post_odom_y_1 = controller_->odometry_.get_y(); + auto post_odom_heading_1 = controller_->odometry_->get_heading(); const double position_tolerance = 1e-5; // Position should remain stable EXPECT_NEAR(pre_odom_x_1, post_odom_x_1, position_tolerance); EXPECT_NEAR(pre_odom_y_1, post_odom_y_1, position_tolerance); + EXPECT_NEAR(pre_odom_heading_1, post_odom_heading_1, position_tolerance); + + EXPECT_DOUBLE_EQ(controller_->last_linear_velocity_, 0.0); + EXPECT_DOUBLE_EQ(controller_->last_angular_velocity_, 0.0); EXPECT_TRUE(std::isnan(controller_->reference_interfaces_[0])); EXPECT_TRUE(std::isnan(controller_->reference_interfaces_[1])); @@ -177,6 +183,7 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) // pre odometry values auto pre_odom_x_2 = controller_->odometry_.get_x(); auto pre_odom_y_2 = controller_->odometry_.get_y(); + auto pre_odom_heading_2 = controller_->odometry_.get_heading(); // adjusting to achieve age_of_last_command > ref_timeout msg->header.stamp = controller_->get_node()->now() - controller_->ref_timeout_ - @@ -189,20 +196,25 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) msg->twist.angular.z = TEST_ANGULAR_VELOCITY_Z; controller_->input_ref_.writeFromNonRT(msg); + // age_of_last_command > ref_timeout_ + ASSERT_FALSE(age_of_last_command <= controller_->ref_timeout_); + ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->twist.linear.x, TEST_LINEAR_VELOCITY_X); + ASSERT_EQ( + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + // post odometry values auto post_odom_x_2 = controller_->odometry_.get_x(); auto post_odom_y_2 = controller_->odometry_.get_y(); + auto post_odom_heading_2 = controller_->odometry_.get_heading(); // Position should remain stable EXPECT_NEAR(pre_odom_x_2, post_odom_x_2, position_tolerance); EXPECT_NEAR(pre_odom_y_2, post_odom_y_2, position_tolerance); + EXPECT_NEAR(pre_odom_heading_2, post_odom_heading_2, position_tolerance); - // age_of_last_command > ref_timeout_ - ASSERT_FALSE(age_of_last_command <= controller_->ref_timeout_); - ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->twist.linear.x, TEST_LINEAR_VELOCITY_X); - ASSERT_EQ( - controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); + EXPECT_DOUBLE_EQ(controller_->last_linear_velocity_, 0.0); + EXPECT_DOUBLE_EQ(controller_->last_angular_velocity_, 0.0); EXPECT_TRUE(std::isnan(controller_->reference_interfaces_[0])); EXPECT_TRUE(std::isnan(controller_->reference_interfaces_[1])); From 590f7473d94fd42572c67c8ded292ac95546b3fd Mon Sep 17 00:00:00 2001 From: Aditya Pawar Date: Tue, 25 Mar 2025 10:01:38 +0000 Subject: [PATCH 3/8] Fixed pointer --- .../test/test_steering_controllers_library.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp index 25587e172c..db06ad734c 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.cpp +++ b/steering_controllers_library/test/test_steering_controllers_library.cpp @@ -126,7 +126,7 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) // pre odometry values auto pre_odom_x_1 = controller_->odometry_.get_x(); auto pre_odom_y_1 = controller_->odometry_.get_y(); - auto pre_odom_heading_1 = controller_->odometry_->get_heading(); + auto pre_odom_heading_1 = controller_->odometry_.get_heading(); // age_of_last_command > ref_timeout_ ASSERT_FALSE(age_of_last_command <= controller_->ref_timeout_); @@ -138,7 +138,7 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) // post odometry values auto post_odom_x_1 = controller_->odometry_.get_x(); auto post_odom_y_1 = controller_->odometry_.get_y(); - auto post_odom_heading_1 = controller_->odometry_->get_heading(); + auto post_odom_heading_1 = controller_->odometry_.get_heading(); const double position_tolerance = 1e-5; From 551a67e7ff32276a4ee9889e024c0c74a6b1ef62 Mon Sep 17 00:00:00 2001 From: Aditya Pawar Date: Wed, 26 Mar 2025 23:10:51 +0530 Subject: [PATCH 4/8] Added a new parameters yaml and updated CMakelists.txt --- steering_controllers_library/CMakeLists.txt | 14 ++++++++++++++ ...ollers_library_open_loop_timeout_params.yaml | 17 +++++++++++++++++ .../test/test_steering_controllers_library.hpp | 9 ++++++++- 3 files changed, 39 insertions(+), 1 deletion(-) create mode 100644 steering_controllers_library/test/steering_controllers_library_open_loop_timeout_params.yaml diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt index 2e80ed198f..3fed8ce0ad 100644 --- a/steering_controllers_library/CMakeLists.txt +++ b/steering_controllers_library/CMakeLists.txt @@ -74,6 +74,20 @@ if(BUILD_TESTING) ament_add_gmock(test_steering_odometry test/test_steering_odometry.cpp) target_link_libraries(test_steering_odometry steering_controllers_library) + add_rostest_with_parameters_gmock( + test_steering_controllers_open_library test/test_steering_controllers_library.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/test/steering_controllers_library_open_loop_timeout_params.yaml) + target_include_directories(test_steering_controllers_open_library PRIVATE include) + target_link_libraries(test_steering_controllers_open_library steering_controllers_library) + ament_target_dependencies( + test_steering_controllers_open_library + controller_interface + hardware_interface + ) + + ament_add_gmock(test_steering_odometry_open_loop_timeout test/test_steering_odometry.cpp) + target_link_libraries(test_steering_odometry_open_loop_timeout steering_controllers_library) + endif() install( diff --git a/steering_controllers_library/test/steering_controllers_library_open_loop_timeout_params.yaml b/steering_controllers_library/test/steering_controllers_library_open_loop_timeout_params.yaml new file mode 100644 index 0000000000..5b4f0daa40 --- /dev/null +++ b/steering_controllers_library/test/steering_controllers_library_open_loop_timeout_params.yaml @@ -0,0 +1,17 @@ +test_steering_controllers_library_open_loop_timeout: + ros__parameters: + + reference_timeout: 0.1 + front_steering: true + open_loop: true + velocity_rolling_window_size: 10 + position_feedback: false + use_stamped_vel: true + rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint] + front_wheels_names: [front_right_steering_joint, front_left_steering_joint] + + wheelbase: 3.24644 + front_wheel_track: 2.12321 + rear_wheel_track: 1.76868 + front_wheels_radius: 0.45 + rear_wheels_radius: 0.45 diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp index 52bd69744f..5b4c408c20 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.hpp +++ b/steering_controllers_library/test/test_steering_controllers_library.hpp @@ -127,7 +127,14 @@ class TestableSteeringControllersLibrary return controller_interface::CallbackReturn::SUCCESS; } - bool update_odometry(const rclcpp::Duration & /*period*/) { return true; } + bool update_odometry(const rclcpp::Duration & period) + { + if (params_.open_loop) + { + odometry_.update_open_loop(last_linear_velocity_, last_angular_velocity_, period.seconds()); + } + return true; + } }; // We are using template class here for easier reuse of Fixture in specializations of controllers From d059bcce5ea8b12f1e214e6acd7f785b33c41e3f Mon Sep 17 00:00:00 2001 From: Aditya Pawar Date: Thu, 27 Mar 2025 07:12:01 +0000 Subject: [PATCH 5/8] Removed redundant gmock target and applied requested modifications --- steering_controllers_library/CMakeLists.txt | 3 --- ...eering_controllers_library_open_loop_timeout_params.yaml | 2 +- .../test/test_steering_controllers_library.cpp | 6 ++++++ 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt index 3fed8ce0ad..5393ff88b8 100644 --- a/steering_controllers_library/CMakeLists.txt +++ b/steering_controllers_library/CMakeLists.txt @@ -85,9 +85,6 @@ if(BUILD_TESTING) hardware_interface ) - ament_add_gmock(test_steering_odometry_open_loop_timeout test/test_steering_odometry.cpp) - target_link_libraries(test_steering_odometry_open_loop_timeout steering_controllers_library) - endif() install( diff --git a/steering_controllers_library/test/steering_controllers_library_open_loop_timeout_params.yaml b/steering_controllers_library/test/steering_controllers_library_open_loop_timeout_params.yaml index 5b4f0daa40..61436ec184 100644 --- a/steering_controllers_library/test/steering_controllers_library_open_loop_timeout_params.yaml +++ b/steering_controllers_library/test/steering_controllers_library_open_loop_timeout_params.yaml @@ -1,4 +1,4 @@ -test_steering_controllers_library_open_loop_timeout: +test_steering_controllers_library: ros__parameters: reference_timeout: 0.1 diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp index db06ad734c..a7dd0024a1 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.cpp +++ b/steering_controllers_library/test/test_steering_controllers_library.cpp @@ -134,6 +134,9 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) ASSERT_EQ( controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); + ASSERT_EQ( + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); // post odometry values auto post_odom_x_1 = controller_->odometry_.get_x(); @@ -202,6 +205,9 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout) ASSERT_EQ( controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); + ASSERT_EQ( + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); // post odometry values auto post_odom_x_2 = controller_->odometry_.get_x(); From 9b5e9762e71db54eea4ef5b185cd1c08a173fbce Mon Sep 17 00:00:00 2001 From: Aditya Pawar Date: Sun, 30 Mar 2025 00:14:07 +0530 Subject: [PATCH 6/8] Modified steering_controller_library to handle timeout --- .../src/steering_controllers_library.cpp | 57 ++++++++++++++----- 1 file changed, 43 insertions(+), 14 deletions(-) diff --git a/steering_controllers_library/src/steering_controllers_library.cpp b/steering_controllers_library/src/steering_controllers_library.cpp index ed0346cbbc..b2c3e33627 100644 --- a/steering_controllers_library/src/steering_controllers_library.cpp +++ b/steering_controllers_library/src/steering_controllers_library.cpp @@ -339,6 +339,15 @@ controller_interface::CallbackReturn SteeringControllersLibrary::on_activate( // Set default value in command reset_controller_reference_msg(*(input_ref_.readFromRT()), get_node()); + // Set the initial steering angle values + size_t steering_count_idx = + params_.front_steering ? params_.front_wheels_names.size() : params_.rear_wheels_names.size(); + + for (size_t i = 0; i < steering_count_idx; i++) + { + command_interfaces_[steering_count_idx + i].set_value(0.575875); + } + return controller_interface::CallbackReturn::SUCCESS; } @@ -386,32 +395,52 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c last_linear_velocity_ = timeout ? 0.0 : reference_interfaces_[0]; last_angular_velocity_ = timeout ? 0.0 : reference_interfaces_[1]; - auto [traction_commands, steering_commands] = odometry_.get_commands( - reference_interfaces_[0], reference_interfaces_[1], params_.open_loop, - params_.reduce_wheel_speed_until_steering_reached); - - if (params_.front_steering) + // calculate new commands if not in timeout + if (!timeout) { - for (size_t i = 0; i < params_.rear_wheels_names.size(); i++) + auto [traction_commands, steering_commands] = odometry_.get_commands( + reference_interfaces_[0], reference_interfaces_[1], params_.open_loop, + params_.reduce_wheel_speed_until_steering_reached); + + if (params_.front_steering) { - command_interfaces_[i].set_value(timeout ? 0.0 : traction_commands[i]); + for (size_t i = 0; i < params_.rear_wheels_names.size(); i++) + { + command_interfaces_[i].set_value(traction_commands[i]); + } + for (size_t i = 0; i < params_.front_wheels_names.size(); i++) + { + command_interfaces_[i + params_.rear_wheels_names.size()].set_value(steering_commands[i]); + } } - for (size_t i = 0; i < params_.front_wheels_names.size(); i++) + else { - command_interfaces_[i + params_.rear_wheels_names.size()].set_value(steering_commands[i]); + for (size_t i = 0; i < params_.front_wheels_names.size(); i++) + { + command_interfaces_[i].set_value(traction_commands[i]); + } + for (size_t i = 0; i < params_.rear_wheels_names.size(); i++) + { + command_interfaces_[i + params_.front_wheels_names.size()].set_value( + steering_commands[i]); + } } } else { + // In timeout, only reset wheel velocities to zero + if (params_.front_steering) { - for (size_t i = 0; i < params_.front_wheels_names.size(); i++) + for (size_t i = 0; i < params_.rear_wheels_names.size(); i++) { - command_interfaces_[i].set_value(timeout ? 0.0 : traction_commands[i]); + command_interfaces_[i].set_value(0.0); } - for (size_t i = 0; i < params_.rear_wheels_names.size(); i++) + } + else + { + for (size_t i = 0; i < params_.front_wheels_names.size(); i++) { - command_interfaces_[i + params_.front_wheels_names.size()].set_value( - steering_commands[i]); + command_interfaces_[i].set_value(0.0); } } } From 891d4ec29cc37dd86647532140d64ed74613c04d Mon Sep 17 00:00:00 2001 From: Aditya Pawar Date: Sun, 30 Mar 2025 01:43:14 +0530 Subject: [PATCH 7/8] Removed duplicate constants --- .../test_steering_controllers_library.hpp | 23 ------------------- 1 file changed, 23 deletions(-) diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp index 5b4c408c20..6037dcf14c 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.hpp +++ b/steering_controllers_library/test/test_steering_controllers_library.hpp @@ -55,10 +55,8 @@ static constexpr size_t NR_CMD_ITFS = 4; static constexpr size_t NR_REF_ITFS = 2; static constexpr double WHEELBASE_ = 3.24644; -static constexpr double FRONT_WHEEL_TRACK_ = 2.12321; static constexpr double REAR_WHEEL_TRACK_ = 1.76868; static constexpr double FRONT_WHEELS_RADIUS_ = 0.45; -static constexpr double REAR_WHEELS_RADIUS_ = 0.45; namespace { @@ -296,30 +294,10 @@ class SteeringControllersLibraryFixture : public ::testing::Test protected: // Controller-related parameters - double reference_timeout_ = 2.0; - bool front_steering_ = true; - bool open_loop_ = false; - unsigned int velocity_rolling_window_size_ = 10; bool position_feedback_ = false; std::vector rear_wheels_names_ = {"rear_right_wheel_joint", "rear_left_wheel_joint"}; std::vector front_wheels_names_ = { "front_right_steering_joint", "front_left_steering_joint"}; - std::vector joint_names_ = { - rear_wheels_names_[0], rear_wheels_names_[1], front_wheels_names_[0], front_wheels_names_[1]}; - - std::vector rear_wheels_preceeding_names_ = { - "pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"}; - std::vector front_wheels_preceeding_names_ = { - "pid_controller/front_right_steering_joint", "pid_controller/front_left_steering_joint"}; - std::vector preceeding_joint_names_ = { - rear_wheels_preceeding_names_[0], rear_wheels_preceeding_names_[1], - front_wheels_preceeding_names_[0], front_wheels_preceeding_names_[1]}; - - double wheelbase_ = 3.24644; - double front_wheel_track_ = 2.12321; - double rear_wheel_track_ = 1.76868; - double front_wheels_radius_ = 0.45; - double rear_wheels_radius_ = 0.45; std::array joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}}; std::array joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}}; @@ -328,7 +306,6 @@ class SteeringControllersLibraryFixture : public ::testing::Test std::string steering_interface_name_ = "position"; // defined in setup std::string traction_interface_name_ = ""; - std::string preceeding_prefix_ = "pid_controller"; std::vector state_itfs_; std::vector command_itfs_; From f93c6d5773353dff9b2b2233160f094b91e87dc6 Mon Sep 17 00:00:00 2001 From: Aditya Pawar Date: Sun, 6 Apr 2025 18:29:52 +0530 Subject: [PATCH 8/8] Changed the joint_command_values_ --- .../test/test_steering_controllers_library.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp index 8c61869207..d45a39a95e 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.hpp +++ b/steering_controllers_library/test/test_steering_controllers_library.hpp @@ -308,7 +308,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test "front_right_steering_joint", "front_left_steering_joint"}; std::array joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}}; - std::array joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}}; + std::array joint_command_values_ = {{1.1, 3.3, 0.575875, 0.575875}}; std::array joint_reference_interfaces_ = {{"linear", "angular"}}; std::string steering_interface_name_ = "position";