GPL make sure the defined joint is not empty

ros-controls · Jul 16, 2024 · c8de8b8 · c8de8b8
1 parent 38df3ea
commit c8de8b8
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/parallel_gripper_controller/src/gripper_action_controller_parameters.yaml b/parallel_gripper_controller/src/gripper_action_controller_parameters.yaml
@@ -11,6 +11,9 @@ parallel_gripper_action_controller:
   joint: {
     type: string,
     read_only: true,
+    validation: {
+      not_empty<>: null
+    }
   }
   state_interfaces: {
     type: string_array,

diff --git a/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp b/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp
@@ -76,7 +76,9 @@ TEST_F(GripperControllerTest, ParametersNotSet)
 
 TEST_F(GripperControllerTest, JointParameterIsEmpty)
 {
-  this->SetUpController("test_gripper_action_position_controller_empty_joint");
+  this->SetUpController(
+    "test_gripper_action_position_controller_empty_joint",
+    controller_interface::return_type::ERROR);
 
   // configure failed, 'joints' is empty
   ASSERT_EQ(