[JTC] Improve update methods for tests (backport ros-controls#858)

christophfroehlich · Nov 27, 2023 · 547dcca · 547dcca
1 parent 17e44c6
commit 547dcca
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Showing 3 changed files with 565 additions and 561 deletions.
diff --git a/joint_trajectory_controller/test/test_trajectory_actions.cpp b/joint_trajectory_controller/test/test_trajectory_actions.cpp
@@ -242,7 +242,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_success_single_point_sendgoa
   EXPECT_EQ(rclcpp_action::ResultCode::SUCCEEDED, common_resultcode_);
 
   // run an update
-  updateController(rclcpp::Duration::from_seconds(0.01));
+  updateControllerAsync(rclcpp::Duration::from_seconds(0.01));
 
   // it should be holding the last position goal
   // i.e., active but trivial trajectory (one point only)
@@ -298,7 +298,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_success_multi_point_sendgoal
   EXPECT_EQ(rclcpp_action::ResultCode::SUCCEEDED, common_resultcode_);
 
   // run an update
-  updateController(rclcpp::Duration::from_seconds(0.01));
+  updateControllerAsync(rclcpp::Duration::from_seconds(0.01));
 
   // it should be holding the last position goal
   // i.e., active but trivial trajectory (one point only)
@@ -350,7 +350,7 @@ TEST_F(TestTrajectoryActions, test_goal_tolerances_single_point_success)
     control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL, common_action_result_code_);
 
   // run an update
-  updateController(rclcpp::Duration::from_seconds(0.01));
+  updateControllerAsync(rclcpp::Duration::from_seconds(0.01));
 
   // it should be holding the last position goal
   // i.e., active but trivial trajectory (one point only)
@@ -409,7 +409,7 @@ TEST_F(TestTrajectoryActions, test_goal_tolerances_multi_point_success)
     control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL, common_action_result_code_);
 
   // run an update
-  updateController(rclcpp::Duration::from_seconds(0.01));
+  updateControllerAsync(rclcpp::Duration::from_seconds(0.01));
 
   // it should be holding the last position goal
   // i.e., active but trivial trajectory (one point only)
@@ -460,7 +460,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_state_tolerances_fail)
     common_action_result_code_);
 
   // run an update
-  updateController(rclcpp::Duration::from_seconds(0.01));
+  updateControllerAsync(rclcpp::Duration::from_seconds(0.01));
 
   // it should be holding the position (being the initial one)
   // i.e., active but trivial trajectory (one point only)
@@ -509,7 +509,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_goal_tolerances_fail)
     common_action_result_code_);
 
   // run an update
-  updateController(rclcpp::Duration::from_seconds(0.01));
+  updateControllerAsync(rclcpp::Duration::from_seconds(0.01));
 
   // it should be holding the position (being the initial one)
   // i.e., active but trivial trajectory (one point only)
@@ -555,7 +555,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_no_time_from_start_state_tol
     common_action_result_code_);
 
   // run an update
-  updateController(rclcpp::Duration::from_seconds(0.01));
+  updateControllerAsync(rclcpp::Duration::from_seconds(0.01));
 
   // it should be holding the position (being the initial one)
   // i.e., active but trivial trajectory (one point only)
@@ -603,7 +603,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_cancel_hold_position)
   std::vector<double> cancelled_position{joint_pos_[0], joint_pos_[1], joint_pos_[2]};
 
   // run an update
-  updateController(rclcpp::Duration::from_seconds(0.01));
+  updateControllerAsync(rclcpp::Duration::from_seconds(0.01));
 
   // it should be holding the last position,
   // i.e., active but trivial trajectory (one point only)