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Set enable_feedforward parameter in the respective tests #1743

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Merged
christophfroehlich merged 1 commit into from
Jun 7, 2025
Merged

Set enable_feedforward parameter in the respective tests #1743

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2 changes: 2 additions & 0 deletions pid_controller/test/test_pid_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -346,6 +346,7 @@ TEST_F(PidControllerTest, test_update_logic_feedforward_on_with_zero_feedforward

controller_->set_reference(dof_command_values_);

controller_->get_node()->set_parameter(rclcpp::Parameter("enable_feedforward", true));
controller_->feedforward_mode_enabled_.writeFromNonRT(true);
EXPECT_EQ(*(controller_->feedforward_mode_enabled_.readFromRT()), true);

Expand Down Expand Up @@ -586,6 +587,7 @@ TEST_F(PidControllerTest, test_update_chained_feedforward_with_gain)
const double expected_command_value = 6.95;

SetUpController("test_pid_controller_with_feedforward_gain");
controller_->get_node()->set_parameter(rclcpp::Parameter("enable_feedforward", true));
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);

// check on interfaces & pid gain parameters
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1 change: 1 addition & 0 deletions pid_controller/test/test_pid_controller_dual_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,7 @@ class PidControllerDualInterfaceTest : public PidControllerFixture<TestablePidCo
TEST_F(PidControllerDualInterfaceTest, test_chained_feedforward_with_gain_dual_interface)
{
SetUpController("test_pid_controller_with_feedforward_gain_dual_interface");
controller_->get_node()->set_parameter(rclcpp::Parameter("enable_feedforward", true));
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);

// check on interfaces & pid gain parameters
Expand Down
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