Set default controller update rate parameter to 100

Some tests require an update rate of 100 which isn't possible if the default one is at 10.
ros-controls · Oct 16, 2024 · c4022a2 · c4022a2
1 parent f5f33a7
commit c4022a2
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -178,6 +178,7 @@ TEST_P(TrajectoryControllerTestParameterized, correct_initialization_using_param
   SetUpTrajectoryController(executor);
   traj_controller_->get_node()->set_parameter(
     rclcpp::Parameter("allow_nonzero_velocity_at_trajectory_end", true));
+  traj_controller_->get_node()->set_parameter(rclcpp::Parameter("update_rate", 10));
 
   // This call is replacing the way parameters are set via launch
   auto state = traj_controller_->configure();
@@ -1678,9 +1679,7 @@ TEST_P(TrajectoryControllerTestParameterized, test_jump_when_state_tracking_erro
   rclcpp::executors::SingleThreadedExecutor executor;
   // default if false so it will not be actually set parameter
   rclcpp::Parameter is_open_loop_parameters("open_loop_control", false);
-  rclcpp::Parameter update_rate_param("update_rate", 100);
-  SetUpAndActivateTrajectoryController(
-    executor, {is_open_loop_parameters, update_rate_param}, true);
+  SetUpAndActivateTrajectoryController(executor, {is_open_loop_parameters}, true);
 
   if (traj_controller_->has_position_command_interface() == false)
   {

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -277,7 +277,7 @@ class TrajectoryControllerTest : public ::testing::Test
     traj_controller_->set_node_options(node_options);
 
     return traj_controller_->init(
-      controller_name_, urdf, 10, "", traj_controller_->define_custom_node_options());
+      controller_name_, urdf, 100, "", traj_controller_->define_custom_node_options());
   }
 
   void SetPidParameters(double p_value = 0.0, double ff_value = 1.0)