Fix dependency and tests

Since we now use the scaled JTC we have to depend on ur_controllers and make sure the tests use the scaled JTC.
UniversalRobots · Oct 15, 2024 · 81f488d · 81f488d
1 parent a15a271
commit 81f488d
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diff --git a/ur_simulation_gz/package.xml b/ur_simulation_gz/package.xml
@@ -24,6 +24,7 @@
   <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>ros_gz_sim</exec_depend>
   <exec_depend>rviz2</exec_depend>
+  <exec_depend>ur_controllers</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_moveit_config</exec_depend>
   <exec_depend>urdf</exec_depend>

diff --git a/ur_simulation_gz/test/test_gz.py b/ur_simulation_gz/test/test_gz.py
@@ -112,7 +112,7 @@ def tearDownClass(cls):
     def init_robot(self):
         self._follow_joint_trajectory = ActionInterface(
             self.node,
-            "/joint_trajectory_controller/follow_joint_trajectory",
+            "/scaled_joint_trajectory_controller/follow_joint_trajectory",
             FollowJointTrajectory,
         )
         # TODO: Replace this timeout with a proper check whether the robot is initialized