diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt index 3406196c5c..3f49ab86ee 100644 --- a/ackermann_steering_controller/CMakeLists.txt +++ b/ackermann_steering_controller/CMakeLists.txt @@ -74,12 +74,12 @@ if(BUILD_TESTING) ) add_rostest_with_parameters_gmock( - test_ackermann_steering_controller_preceeding test/test_ackermann_steering_controller_preceeding.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_preceeding_params.yaml) - target_include_directories(test_ackermann_steering_controller_preceeding PRIVATE include) - target_link_libraries(test_ackermann_steering_controller_preceeding ackermann_steering_controller) + test_ackermann_steering_controller_preceding test/test_ackermann_steering_controller_preceding.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_preceding_params.yaml) + target_include_directories(test_ackermann_steering_controller_preceding PRIVATE include) + target_link_libraries(test_ackermann_steering_controller_preceding ackermann_steering_controller) ament_target_dependencies( - test_ackermann_steering_controller_preceeding + test_ackermann_steering_controller_preceding controller_interface hardware_interface ) diff --git a/ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml b/ackermann_steering_controller/test/ackermann_steering_controller_preceding_params.yaml similarity index 100% rename from ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml rename to ackermann_steering_controller/test/ackermann_steering_controller_preceding_params.yaml diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp index c1cb1d4f16..635dc07410 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp @@ -287,13 +287,13 @@ class AckermannSteeringControllerFixture : public ::testing::Test 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_ = { + std::vector rear_wheels_preceding_names_ = { "pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"}; - std::vector front_wheels_preceeding_names_ = { + std::vector front_wheels_preceding_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]}; + std::vector preceding_joint_names_ = { + rear_wheels_preceding_names_[0], rear_wheels_preceding_names_[1], + front_wheels_preceding_names_[0], front_wheels_preceding_names_[1]}; double wheelbase_ = 3.24644; double front_wheel_track_ = 2.12321; @@ -307,7 +307,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test std::string steering_interface_name_ = "position"; // defined in setup std::string traction_interface_name_ = ""; - std::string preceeding_prefix_ = "pid_controller"; + std::string preceding_prefix_ = "pid_controller"; std::vector state_itfs_; std::vector command_itfs_; diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceding.cpp similarity index 89% rename from ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp rename to ackermann_steering_controller/test/test_ackermann_steering_controller_preceding.cpp index 7a0e4d430e..ea44d6042e 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceding.cpp @@ -32,10 +32,10 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success) ASSERT_THAT( controller_->params_.rear_wheels_names, - testing::ElementsAreArray(rear_wheels_preceeding_names_)); + testing::ElementsAreArray(rear_wheels_preceding_names_)); ASSERT_THAT( controller_->params_.front_wheels_names, - testing::ElementsAreArray(front_wheels_preceeding_names_)); + testing::ElementsAreArray(front_wheels_preceding_names_)); ASSERT_EQ(controller_->params_.front_steering, front_steering_); ASSERT_EQ(controller_->params_.open_loop, open_loop_); ASSERT_EQ(controller_->params_.velocity_rolling_window_size, velocity_rolling_window_size_); @@ -57,16 +57,16 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces) ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], - preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); + preceding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], - preceeding_prefix_ + "/" + rear_wheels_names_[1] + "/" + traction_interface_name_); + preceding_prefix_ + "/" + rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL], - preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); + preceding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( cmd_if_conf.names[CMD_STEER_LEFT_WHEEL], - preceeding_prefix_ + "/" + front_wheels_names_[1] + "/" + steering_interface_name_); + preceding_prefix_ + "/" + front_wheels_names_[1] + "/" + steering_interface_name_); EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); auto state_if_conf = controller_->state_interface_configuration(); diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt index b8c947a7a5..0ad9dd193e 100644 --- a/bicycle_steering_controller/CMakeLists.txt +++ b/bicycle_steering_controller/CMakeLists.txt @@ -72,12 +72,12 @@ if(BUILD_TESTING) ) add_rostest_with_parameters_gmock( - test_bicycle_steering_controller_preceeding test/test_bicycle_steering_controller_preceeding.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_preceeding_params.yaml) - target_include_directories(test_bicycle_steering_controller_preceeding PRIVATE include) - target_link_libraries(test_bicycle_steering_controller_preceeding bicycle_steering_controller) + test_bicycle_steering_controller_preceding test/test_bicycle_steering_controller_preceding.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_preceding_params.yaml) + target_include_directories(test_bicycle_steering_controller_preceding PRIVATE include) + target_link_libraries(test_bicycle_steering_controller_preceding bicycle_steering_controller) ament_target_dependencies( - test_bicycle_steering_controller_preceeding + test_bicycle_steering_controller_preceding controller_interface hardware_interface ) diff --git a/bicycle_steering_controller/test/bicycle_steering_controller_preceeding_params.yaml b/bicycle_steering_controller/test/bicycle_steering_controller_preceding_params.yaml similarity index 100% rename from bicycle_steering_controller/test/bicycle_steering_controller_preceeding_params.yaml rename to bicycle_steering_controller/test/bicycle_steering_controller_preceding_params.yaml diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp index dcec0f1a3d..8cfcc4a7b6 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp @@ -257,11 +257,10 @@ class BicycleSteeringControllerFixture : public ::testing::Test std::vector front_wheels_names_ = {{"steering_axis_joint"}}; std::vector joint_names_ = {{rear_wheels_names_[0], front_wheels_names_[0]}}; - std::vector rear_wheels_preceeding_names_ = {{"pid_controller/rear_wheel_joint"}}; - std::vector front_wheels_preceeding_names_ = { - {"pid_controller/steering_axis_joint"}}; - std::vector preceeding_joint_names_ = { - rear_wheels_preceeding_names_[0], front_wheels_preceeding_names_[0]}; + std::vector rear_wheels_preceding_names_ = {{"pid_controller/rear_wheel_joint"}}; + std::vector front_wheels_preceding_names_ = {{"pid_controller/steering_axis_joint"}}; + std::vector preceding_joint_names_ = { + rear_wheels_preceding_names_[0], front_wheels_preceding_names_[0]}; double wheelbase_ = 3.24644; double front_wheels_radius_ = 0.45; @@ -274,7 +273,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test // defined in setup std::string traction_interface_name_ = ""; - std::string preceeding_prefix_ = "pid_controller"; + std::string preceding_prefix_ = "pid_controller"; std::vector state_itfs_; std::vector command_itfs_; diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceding.cpp similarity index 92% rename from bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp rename to bicycle_steering_controller/test/test_bicycle_steering_controller_preceding.cpp index 500bb36c1c..34b9f10df8 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceding.cpp @@ -32,10 +32,10 @@ TEST_F(BicycleSteeringControllerTest, all_parameters_set_configure_success) ASSERT_THAT( controller_->params_.rear_wheels_names, - testing::ElementsAreArray(rear_wheels_preceeding_names_)); + testing::ElementsAreArray(rear_wheels_preceding_names_)); ASSERT_THAT( controller_->params_.front_wheels_names, - testing::ElementsAreArray(front_wheels_preceeding_names_)); + testing::ElementsAreArray(front_wheels_preceding_names_)); ASSERT_EQ(controller_->params_.front_steering, front_steering_); ASSERT_EQ(controller_->params_.open_loop, open_loop_); ASSERT_EQ(controller_->params_.velocity_rolling_window_size, velocity_rolling_window_size_); @@ -55,10 +55,10 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces) ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( cmd_if_conf.names[CMD_TRACTION_WHEEL], - preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); + preceding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( cmd_if_conf.names[CMD_STEER_WHEEL], - preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); + preceding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); auto state_if_conf = controller_->state_interface_configuration(); diff --git a/mecanum_drive_controller/CMakeLists.txt b/mecanum_drive_controller/CMakeLists.txt index 765782d2f6..5e9d2227b6 100644 --- a/mecanum_drive_controller/CMakeLists.txt +++ b/mecanum_drive_controller/CMakeLists.txt @@ -75,12 +75,12 @@ if(BUILD_TESTING) ) add_rostest_with_parameters_gmock( - test_mecanum_drive_controller_preceeding test/test_mecanum_drive_controller_preceeding.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/mecanum_drive_controller_preceeding_params.yaml) - target_include_directories(test_mecanum_drive_controller_preceeding PRIVATE include) - target_link_libraries(test_mecanum_drive_controller_preceeding mecanum_drive_controller) + test_mecanum_drive_controller_preceding test/test_mecanum_drive_controller_preceding.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/test/mecanum_drive_controller_preceding_params.yaml) + target_include_directories(test_mecanum_drive_controller_preceding PRIVATE include) + target_link_libraries(test_mecanum_drive_controller_preceding mecanum_drive_controller) ament_target_dependencies( - test_mecanum_drive_controller_preceeding + test_mecanum_drive_controller_preceding controller_interface hardware_interface ) diff --git a/mecanum_drive_controller/test/mecanum_drive_controller_preceeding_params.yaml b/mecanum_drive_controller/test/mecanum_drive_controller_preceding_params.yaml similarity index 100% rename from mecanum_drive_controller/test/mecanum_drive_controller_preceeding_params.yaml rename to mecanum_drive_controller/test/mecanum_drive_controller_preceding_params.yaml diff --git a/mecanum_drive_controller/test/test_mecanum_drive_controller_preceeding.cpp b/mecanum_drive_controller/test/test_mecanum_drive_controller_preceding.cpp similarity index 100% rename from mecanum_drive_controller/test/test_mecanum_drive_controller_preceeding.cpp rename to mecanum_drive_controller/test/test_mecanum_drive_controller_preceding.cpp diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp index 38d029d32b..efa5053af7 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.hpp +++ b/steering_controllers_library/test/test_steering_controllers_library.hpp @@ -308,13 +308,13 @@ class SteeringControllersLibraryFixture : public ::testing::Test 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_ = { + std::vector rear_wheels_preceding_names_ = { "pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"}; - std::vector front_wheels_preceeding_names_ = { + std::vector front_wheels_preceding_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]}; + std::vector preceding_joint_names_ = { + rear_wheels_preceding_names_[0], rear_wheels_preceding_names_[1], + front_wheels_preceding_names_[0], front_wheels_preceding_names_[1]}; double wheelbase_ = 3.24644; double front_wheel_track_ = 2.12321; @@ -329,7 +329,7 @@ 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::string preceding_prefix_ = "pid_controller"; std::vector state_itfs_; std::vector command_itfs_; diff --git a/tricycle_steering_controller/CMakeLists.txt b/tricycle_steering_controller/CMakeLists.txt index 91e841d526..ef8901f674 100644 --- a/tricycle_steering_controller/CMakeLists.txt +++ b/tricycle_steering_controller/CMakeLists.txt @@ -72,12 +72,12 @@ if(BUILD_TESTING) ) add_rostest_with_parameters_gmock( - test_tricycle_steering_controller_preceeding test/test_tricycle_steering_controller_preceeding.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/tricycle_steering_controller_preceeding_params.yaml) - target_include_directories(test_tricycle_steering_controller_preceeding PRIVATE include) - target_link_libraries(test_tricycle_steering_controller_preceeding tricycle_steering_controller) + test_tricycle_steering_controller_preceding test/test_tricycle_steering_controller_preceding.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/test/tricycle_steering_controller_preceding_params.yaml) + target_include_directories(test_tricycle_steering_controller_preceding PRIVATE include) + target_link_libraries(test_tricycle_steering_controller_preceding tricycle_steering_controller) ament_target_dependencies( - test_tricycle_steering_controller_preceeding + test_tricycle_steering_controller_preceding controller_interface hardware_interface ) diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp index 7c6a12938f..a0c8480078 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp @@ -271,12 +271,12 @@ class TricycleSteeringControllerFixture : public ::testing::Test std::vector joint_names_{ rear_wheels_names_[0], rear_wheels_names_[1], front_wheels_names_[0]}; - std::vector rear_wheels_preceeding_names_{ + std::vector rear_wheels_preceding_names_{ "pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"}; - std::vector front_wheels_preceeding_names_{"pid_controller/steering_axis_joint"}; - std::vector preceeding_joint_names_{ - rear_wheels_preceeding_names_[0], rear_wheels_preceeding_names_[1], - front_wheels_preceeding_names_[0]}; + std::vector front_wheels_preceding_names_{"pid_controller/steering_axis_joint"}; + std::vector preceding_joint_names_{ + rear_wheels_preceding_names_[0], rear_wheels_preceding_names_[1], + front_wheels_preceding_names_[0]}; double wheelbase_ = 3.24644; double wheel_track_ = 1.212121; @@ -290,7 +290,7 @@ class TricycleSteeringControllerFixture : public ::testing::Test std::string steering_interface_name_ = "position"; // defined in setup std::string traction_interface_name_ = ""; - std::string preceeding_prefix_ = "pid_controller"; + std::string preceding_prefix_ = "pid_controller"; std::vector state_itfs_; std::vector command_itfs_; diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceding.cpp similarity index 90% rename from tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp rename to tricycle_steering_controller/test/test_tricycle_steering_controller_preceding.cpp index f9b9afb67c..cde16c7fea 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceding.cpp @@ -31,10 +31,10 @@ TEST_F(TricycleSteeringControllerTest, all_parameters_set_configure_success) ASSERT_THAT( controller_->params_.rear_wheels_names, - testing::ElementsAreArray(rear_wheels_preceeding_names_)); + testing::ElementsAreArray(rear_wheels_preceding_names_)); ASSERT_THAT( controller_->params_.front_wheels_names, - testing::ElementsAreArray(front_wheels_preceeding_names_)); + testing::ElementsAreArray(front_wheels_preceding_names_)); ASSERT_EQ(controller_->params_.front_steering, front_steering_); ASSERT_EQ(controller_->params_.open_loop, open_loop_); ASSERT_EQ(controller_->params_.velocity_rolling_window_size, velocity_rolling_window_size_); @@ -55,13 +55,13 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces) ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], - preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); + preceding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], - preceeding_prefix_ + "/" + rear_wheels_names_[1] + "/" + traction_interface_name_); + preceding_prefix_ + "/" + rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( cmd_if_conf.names[CMD_STEER_WHEEL], - preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); + preceding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); auto state_if_conf = controller_->state_interface_configuration(); diff --git a/tricycle_steering_controller/test/tricycle_steering_controller_preceeding_params.yaml b/tricycle_steering_controller/test/tricycle_steering_controller_preceding_params.yaml similarity index 100% rename from tricycle_steering_controller/test/tricycle_steering_controller_preceeding_params.yaml rename to tricycle_steering_controller/test/tricycle_steering_controller_preceding_params.yaml