Variance isn't supported in humble

ros-controls · Sep 8, 2023 · c6413d5 · c6413d5
1 parent 71d4888
commit c6413d5
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Showing 4 changed files with 0 additions and 8 deletions.
diff --git a/range_sensor_broadcaster/src/range_sensor_broadcaster.cpp b/range_sensor_broadcaster/src/range_sensor_broadcaster.cpp
@@ -79,7 +79,6 @@ controller_interface::CallbackReturn RangeSensorBroadcaster::on_configure(
   realtime_publisher_->msg_.field_of_view = params_.field_of_view;
   realtime_publisher_->msg_.min_range = params_.min_range;
   realtime_publisher_->msg_.max_range = params_.max_range;
-  realtime_publisher_->msg_.variance = params_.variance;
   realtime_publisher_->unlock();
 
   RCLCPP_DEBUG(get_node()->get_logger(), "configure successful");

diff --git a/range_sensor_broadcaster/src/range_sensor_broadcaster_parameters.yaml b/range_sensor_broadcaster/src/range_sensor_broadcaster_parameters.yaml
@@ -13,4 +13,3 @@ range_sensor_broadcaster:
   field_of_view: {type: double, default_value: 0.52, description: "The size of the arc that the distance reading is valid for [rad]",}
   min_range: {type: double, default_value: 0.52, description: "Minimum range value [m]",}
   max_range: {type: double, default_value: 4.0, description: "Maximum range value [m]",}
-  variance: {type: double, default_value: 0.0, description: "Variance of the range value",}
diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
@@ -173,7 +173,6 @@ TEST_F(RangeSensorBroadcasterTest, Publish_RangeBroadcaster_Success)
   EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_));
   EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_));
   EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_));
-  EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_));
 }
 
 TEST_F(RangeSensorBroadcasterTest, Publish_Bandaries_RangeBroadcaster_Success)
@@ -194,7 +193,6 @@ TEST_F(RangeSensorBroadcasterTest, Publish_Bandaries_RangeBroadcaster_Success)
   EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_));
   EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_));
   EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_));
-  EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_));
 
   sensor_range_ = 4.0;
   subscribe_and_get_message(range_msg);
@@ -205,7 +203,6 @@ TEST_F(RangeSensorBroadcasterTest, Publish_Bandaries_RangeBroadcaster_Success)
   EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_));
   EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_));
   EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_));
-  EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_));
 }
 
 TEST_F(RangeSensorBroadcasterTest, Publish_OutOfBandaries_RangeBroadcaster_Success)
@@ -227,7 +224,6 @@ TEST_F(RangeSensorBroadcasterTest, Publish_OutOfBandaries_RangeBroadcaster_Succe
   EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_));
   EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_));
   EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_));
-  EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_));
 
   sensor_range_ = 6.0;
   subscribe_and_get_message(range_msg);
@@ -239,7 +235,6 @@ TEST_F(RangeSensorBroadcasterTest, Publish_OutOfBandaries_RangeBroadcaster_Succe
   EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_));
   EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_));
   EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_));
-  EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_));
 }
 
 int main(int argc, char ** argv)

diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.hpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.hpp
@@ -43,7 +43,6 @@ class RangeSensorBroadcasterTest : public ::testing::Test
   const int radiation_type_ = 1;
   const double min_range_ = 0.1;
   const double max_range_ = 7.0;
-  const double variance_ = 1.0;
 
   double sensor_range_ = 3.1;
   hardware_interface::StateInterface range_{sensor_name_, "range", &sensor_range_};