From 4f0702208c8ec90e14f6556b616b4ce8f940d7bf Mon Sep 17 00:00:00 2001
From: Aditya Pawar <adityavpawar2003@gmail.com>
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 <adityavpawar2003@gmail.com>
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 <adityavpawar2003@gmail.com>
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 <adityavpawar2003@gmail.com>
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 <adityavpawar2003@gmail.com>
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 <adityavpawar2003@gmail.com>
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 <adityavpawar2003@gmail.com>
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<std::string> rear_wheels_names_ = {"rear_right_wheel_joint", "rear_left_wheel_joint"};
std::vector<std::string> front_wheels_names_ = {
"front_right_steering_joint", "front_left_steering_joint"};
- std::vector<std::string> joint_names_ = {
- rear_wheels_names_[0], rear_wheels_names_[1], front_wheels_names_[0], front_wheels_names_[1]};
-
- std::vector<std::string> rear_wheels_preceeding_names_ = {
- "pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"};
- std::vector<std::string> front_wheels_preceeding_names_ = {
- "pid_controller/front_right_steering_joint", "pid_controller/front_left_steering_joint"};
- std::vector<std::string> 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<double, 4> joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}};
std::array<double, 4> 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<hardware_interface::StateInterface> state_itfs_;
std::vector<hardware_interface::CommandInterface> command_itfs_;
From f93c6d5773353dff9b2b2233160f094b91e87dc6 Mon Sep 17 00:00:00 2001
From: Aditya Pawar <adityavpawar2003@gmail.com>
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<double, 4> joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}};
- std::array<double, 4> joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}};
+ std::array<double, 4> joint_command_values_ = {{1.1, 3.3, 0.575875, 0.575875}};
std::array<std::string, 2> joint_reference_interfaces_ = {{"linear", "angular"}};
std::string steering_interface_name_ = "position";