test(admittance_controller): add required params to fix load test (#583)

admittance_controller/test/test_load_admittance_controller.cpp

@@ -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);
 }
 
 int main(int argc, char ** argv)

admittance_controller/test/test_params.yaml

@@ -16,6 +16,77 @@ load_admittance_controller:
       - position
       - velocity
 
+    kinematics:
+      plugin_name: kinematics_interface_kdl/KinematicsInterfaceKDL
+      plugin_package: kinematics_interface
+      base: base_link # Assumed to be stationary
+      tip: tool0
+      group_name: arm
+      alpha: 0.0005
+
+    ft_sensor:
+      name: ft_sensor_name
+      frame:
+        id: link_6  # tool0 Wrench measurements are in this frame
+        external: false # force torque frame exists within URDF kinematic chain
+      filter_coefficient: 0.005
+
+    control:
+      frame:
+        id: tool0 # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector
+        external: false # control frame exists within URDF kinematic chain
+
+    fixed_world_frame:   # Gravity points down (neg. Z) in this frame (Usually: world or base_link)
+      frame:
+        id: base_link # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector
+        external: false # control frame exists within URDF kinematic chain
+
+    gravity_compensation:
+      frame:
+        id: tool0
+        external: false
+
+      CoG: # specifies the center of gravity of the end effector
+        pos:
+          - 0.1 # x
+          - 0.0 # y
+          - 0.0 # z
+        force: 23.0 # mass * 9.81
+
+    admittance:
+      selected_axes:
+        - true # x
+        - true # y
+        - true # z
+        - true # rx
+        - true # ry
+        - true # rz
+
+      # Having ".0" at the end is MUST, otherwise there is a loading error
+      # F = M*a + D*v + S*(x - x_d)
+      mass:
+        - 5.5
+        - 6.6
+        - 7.7
+        - 8.8
+        - 9.9
+        - 10.10
+
+      damping_ratio: # damping can be used instead: zeta = D / (2 * sqrt( M * S ))
+        - 2.828427 # x
+        - 2.828427 # y
+        - 2.828427 # z
+        - 2.828427 # rx
+        - 2.828427 # ry
+        - 2.828427 # rz
+
+      stiffness:
+        - 214.1
+        - 214.2
+        - 214.3
+        - 214.4
+        - 214.5
+        - 214.6
 
 test_admittance_controller:
   # contains minimal needed parameters for kuka_kr6