Adding tests to steering_controllers_libray pkg#5
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petkovich merged 4 commits intoackermann-odometry-libraryfrom Jan 20, 2023
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destogl
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…meter-in-pid-controller-in-control-toolbox Added support for save integral term parameter
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…r) (#6) * Merge error handling possilibity on read and write. * Ros2 control extensions rolling joint limits plugins (#5) * Added initial structures for joint-limit plugins. * Move Ruckig limiter to package joint_limits_enforcement_plugins and make it working. Co-authored-by: AndyZe <zelenak@picknik.ai> * Add option to automatically update parameters after getting them from parameter server. * Modify simple joint limiting plugin (same as changes to moveit2 filter) * Add backward_ros dependency for crash stack trace * Check for required inputs in simple joint limiter * Change services history QOS to 'keep all' so client req are not dropped * Add missing on 'pluginlib' dependency explicitly. * Update ControllerParameters structure to support custom prefix and use in filters. * Update messge. * Change controller param changed msg log level to info instead of error --------- Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: bijoua <bijou.abraham@technipfmc.com> Co-authored-by: bijoua29 <73511637+bijoua29@users.noreply.github.com>
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in test header file it is declared that the added tests for steering_controllers_libraya assume the ackerman vehicle configuration and hence the state, comand and reference interfaces of the ackerman vehicle 4W configuration.
added two tests, that check exported interfaces and update logic for cases position_feedback = false/true