Use urdf for compute_error tests

ros-controls · Jan 24, 2024 · a8145aa · a8145aa
1 parent 40463d9
commit a8145aa
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -471,7 +471,8 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_tru
   rclcpp::executors::MultiThreadedExecutor executor;
   std::vector<rclcpp::Parameter> params = {};
   SetUpAndActivateTrajectoryController(
-    executor, params, true, 0.0, 1.0, true /* angle_wraparound */);
+    executor, params, true, 0.0, 1.0, INITIAL_POS_JOINTS, INITIAL_VEL_JOINTS, INITIAL_ACC_JOINTS,
+    INITIAL_EFF_JOINTS, test_trajectory_controllers::urdf_rrrbot_continuous);
 
   size_t n_joints = joint_names_.size();
 
@@ -562,7 +563,8 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_fal
   rclcpp::executors::MultiThreadedExecutor executor;
   std::vector<rclcpp::Parameter> params = {};
   SetUpAndActivateTrajectoryController(
-    executor, params, true, 0.0, 1.0, false /* angle_wraparound */);
+    executor, params, true, 0.0, 1.0, INITIAL_POS_JOINTS, INITIAL_VEL_JOINTS, INITIAL_ACC_JOINTS,
+    INITIAL_EFF_JOINTS, test_trajectory_controllers::urdf_rrrbot_revolute);
 
   size_t n_joints = joint_names_.size();