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Fix preceeding->preceding typos #1655

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Apr 23, 2025
Merged

Fix preceeding->preceding typos #1655

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5c66b58
Fix typo
christophfroehlich Apr 23, 2025
6ad00f2
Fix typo
christophfroehlich Apr 23, 2025
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10 changes: 5 additions & 5 deletions ackermann_steering_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
)
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0 ...teering_controller_preceeding_params.yaml → ...steering_controller_preceding_params.yaml
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12 changes: 6 additions & 6 deletions ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
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Expand Up @@ -287,13 +287,13 @@ class AckermannSteeringControllerFixture : public ::testing::Test
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_ = {
std::vector<std::string> rear_wheels_preceding_names_ = {
"pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"};
std::vector<std::string> front_wheels_preceeding_names_ = {
std::vector<std::string> front_wheels_preceding_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]};
std::vector<std::string> 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;
Expand All @@ -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<hardware_interface::StateInterface> state_itfs_;
std::vector<hardware_interface::CommandInterface> command_itfs_;
Expand Down
12 changes: 6 additions & 6 deletions ...ermann_steering_controller_preceeding.cpp → ...kermann_steering_controller_preceding.cpp
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Expand Up @@ -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_);
Expand All @@ -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();
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10 changes: 5 additions & 5 deletions bicycle_steering_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
)
Expand Down
0 ...teering_controller_preceeding_params.yaml → ...steering_controller_preceding_params.yaml
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File renamed without changes.
11 changes: 5 additions & 6 deletions bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
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Expand Up @@ -257,11 +257,10 @@ class BicycleSteeringControllerFixture : public ::testing::Test
std::vector<std::string> front_wheels_names_ = {{"steering_axis_joint"}};
std::vector<std::string> joint_names_ = {{rear_wheels_names_[0], front_wheels_names_[0]}};

std::vector<std::string> rear_wheels_preceeding_names_ = {{"pid_controller/rear_wheel_joint"}};
std::vector<std::string> front_wheels_preceeding_names_ = {
{"pid_controller/steering_axis_joint"}};
std::vector<std::string> preceeding_joint_names_ = {
rear_wheels_preceeding_names_[0], front_wheels_preceeding_names_[0]};
std::vector<std::string> rear_wheels_preceding_names_ = {{"pid_controller/rear_wheel_joint"}};
std::vector<std::string> front_wheels_preceding_names_ = {{"pid_controller/steering_axis_joint"}};
std::vector<std::string> preceding_joint_names_ = {
rear_wheels_preceding_names_[0], front_wheels_preceding_names_[0]};

double wheelbase_ = 3.24644;
double front_wheels_radius_ = 0.45;
Expand All @@ -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<hardware_interface::StateInterface> state_itfs_;
std::vector<hardware_interface::CommandInterface> command_itfs_;
Expand Down
8 changes: 4 additions & 4 deletions ...icycle_steering_controller_preceeding.cpp → ...bicycle_steering_controller_preceding.cpp
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Expand Up @@ -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_);
Expand All @@ -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();
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10 changes: 5 additions & 5 deletions mecanum_drive_controller/CMakeLists.txt
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Expand Up @@ -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
)
Expand Down
0 ...m_drive_controller_preceeding_params.yaml → ...um_drive_controller_preceding_params.yaml
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File renamed without changes.
0 ...t_mecanum_drive_controller_preceeding.cpp → ...st_mecanum_drive_controller_preceding.cpp
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12 changes: 6 additions & 6 deletions steering_controllers_library/test/test_steering_controllers_library.hpp
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Expand Up @@ -308,13 +308,13 @@ class SteeringControllersLibraryFixture : public ::testing::Test
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_ = {
std::vector<std::string> rear_wheels_preceding_names_ = {
"pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"};
std::vector<std::string> front_wheels_preceeding_names_ = {
std::vector<std::string> front_wheels_preceding_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]};
std::vector<std::string> 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;
Expand All @@ -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<hardware_interface::StateInterface> state_itfs_;
std::vector<hardware_interface::CommandInterface> command_itfs_;
Expand Down
10 changes: 5 additions & 5 deletions tricycle_steering_controller/CMakeLists.txt
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Expand Up @@ -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
)
Expand Down
12 changes: 6 additions & 6 deletions tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
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Expand Up @@ -271,12 +271,12 @@ class TricycleSteeringControllerFixture : public ::testing::Test
std::vector<std::string> joint_names_{
rear_wheels_names_[0], rear_wheels_names_[1], front_wheels_names_[0]};

std::vector<std::string> rear_wheels_preceeding_names_{
std::vector<std::string> rear_wheels_preceding_names_{
"pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"};
std::vector<std::string> front_wheels_preceeding_names_{"pid_controller/steering_axis_joint"};
std::vector<std::string> preceeding_joint_names_{
rear_wheels_preceeding_names_[0], rear_wheels_preceeding_names_[1],
front_wheels_preceeding_names_[0]};
std::vector<std::string> front_wheels_preceding_names_{"pid_controller/steering_axis_joint"};
std::vector<std::string> 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;
Expand All @@ -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<hardware_interface::StateInterface> state_itfs_;
std::vector<hardware_interface::CommandInterface> command_itfs_;
Expand Down
10 changes: 5 additions & 5 deletions ...icycle_steering_controller_preceeding.cpp → ...ricycle_steering_controller_preceding.cpp
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Expand Up @@ -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_);
Expand All @@ -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();
Expand Down
0 ...teering_controller_preceeding_params.yaml → ...steering_controller_preceding_params.yaml
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