Fix failing tests

ros-controls · Nov 18, 2024 · 9e35eca · 9e35eca
1 parent 33ab27a
commit 9e35eca
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Showing 2 changed files with 21 additions and 25 deletions.
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -273,20 +273,19 @@ class AckermannSteeringControllerFixture : public ::testing::Test
   bool open_loop_ = false;
   unsigned int velocity_rolling_window_size_ = 10;
   bool position_feedback_ = false;
-  std::vector<std::string> rear_wheels_names_ = {
-    {"rear_right_wheel_joint", "rear_left_wheel_joint"}};
+  std::vector<std::string> rear_wheels_names_ = {"rear_right_wheel_joint", "rear_left_wheel_joint"};
   std::vector<std::string> front_wheels_names_ = {
-    {"front_right_steering_joint", "front_left_steering_joint"}};
+    "front_right_steering_joint", "front_left_steering_joint"};
   std::vector<std::string> joint_names_ = {
-    {rear_wheels_names_[0], rear_wheels_names_[1], front_wheels_names_[0], front_wheels_names_[1]}};
+    rear_wheels_names_[0], rear_wheels_names_[1], front_wheels_names_[0], front_wheels_names_[1]};
 
   std::vector<std::string> rear_wheels_preceeding_names_ = {
-    {"pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"}};
+    "pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"};
   std::vector<std::string> front_wheels_preceeding_names_ = {
-    {"pid_controller/front_right_steering_joint", "pid_controller/front_left_steering_joint"}};
+    "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]}};
+    rear_wheels_preceeding_names_[0], rear_wheels_preceeding_names_[1],
+    front_wheels_preceeding_names_[0], front_wheels_preceeding_names_[1]};
 
   double wheelbase_ = 3.24644;
   double front_wheel_track_ = 2.12321;

diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
@@ -260,30 +260,27 @@ class TricycleSteeringControllerFixture : public ::testing::Test
   bool open_loop_ = false;
   unsigned int velocity_rolling_window_size_ = 10;
   bool position_feedback_ = false;
-  std::vector<std::string> rear_wheels_names_ = {
-    {"rear_right_wheel_joint", "rear_left_wheel_joint"}};
-  std::vector<std::string> front_wheels_names_ = {{"steering_axis_joint"}};
-  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_ = {
-    {"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> rear_wheels_names_{"rear_right_wheel_joint", "rear_left_wheel_joint"};
+  std::vector<std::string> front_wheels_names_{"steering_axis_joint"};
+  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_{
+    "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]};
 
   double wheelbase_ = 3.24644;
   double wheel_track_ = 1.212121;
 
   double front_wheels_radius_ = 0.45;
   double rear_wheels_radius_ = 0.45;
 
-  std::array<double, 3> joint_state_values_ = {{0.5, 0.5, 0.0}};
-  std::array<double, 3> joint_command_values_ = {{1.1, 3.3, 2.2}};
-  std::array<std::string, 2> joint_reference_interfaces_ = {
-    {"linear/velocity", "angular/velocity"}};
+  std::array<double, 3> joint_state_values_{{0.5, 0.5, 0.0}};
+  std::array<double, 3> joint_command_values_{{1.1, 3.3, 2.2}};
+  std::array<std::string, 2> joint_reference_interfaces_{{"linear/velocity", "angular/velocity"}};
   std::string steering_interface_name_ = "position";
   // defined in setup
   std::string traction_interface_name_ = "";