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fix: correct ASSERT_EQ to ASSERT_NE in admittance controller load test #2264

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Merged
christophfroehlich merged 5 commits into from
May 1, 2026
+72 −1
Merged

fix: correct ASSERT_EQ to ASSERT_NE in admittance controller load test #2264

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8fd5432
fix: update kinematics parameters in load_admittance_controller confi…
SouriRishik Apr 16, 2026
0605834
test: update assertion to check successful controller loading
SouriRishik Apr 16, 2026
d4a2356
feat: enhance load_admittance_controller parameters for improved func…
SouriRishik Apr 22, 2026
c83f882
Merge branch 'master' into fix/admittance-controller-load-test
SouriRishik Apr 22, 2026
93a94ec
Merge branch 'master' into fix/admittance-controller-load-test
SouriRishik Apr 25, 2026
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2 changes: 1 addition & 1 deletion admittance_controller/test/test_load_admittance_controller.cpp
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Expand Up @@ -36,7 +36,7 @@ TEST(TestLoadAdmittanceController, load_controller)
cm.set_parameter(
{"load_admittance_controller.type", "admittance_controller/AdmittanceController"});

ASSERT_EQ(cm.load_controller("load_admittance_controller"), nullptr);
ASSERT_NE(cm.load_controller("load_admittance_controller"), nullptr);
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}

int main(int argc, char ** argv)
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6 changes: 6 additions & 0 deletions admittance_controller/test/test_params.yaml
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Expand Up @@ -16,6 +16,12 @@ load_admittance_controller:
- position
- velocity

kinematics:
plugin_name: kinematics_interface_kdl/KinematicsInterfaceKDL
plugin_package: kinematics_interface
base: base_link
tip: link_2
group_name: arm

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test_admittance_controller:
# contains minimal needed parameters for kuka_kr6
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