Fix some other stuff.

ros-controls · Jan 17, 2024 · 26991b8 · 26991b8
1 parent 4f14e45
commit 26991b8
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/hardware_interface/test/test_resource_manager_prepare_perform_switch.cpp b/hardware_interface/test/test_resource_manager_prepare_perform_switch.cpp
@@ -367,21 +367,21 @@ TEST_F(
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
 
   // When TestActuatorHardware is INACTIVE expect OK
-  EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
+  EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
   EXPECT_EQ(claimed_system_acceleration_state_->get_value(), 0.0);
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
   EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
   EXPECT_EQ(claimed_system_acceleration_state_->get_value(), 0.0);
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
 
-  EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_actuator, empty_keys));
+  EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_actuator, empty_keys));
   EXPECT_EQ(claimed_system_acceleration_state_->get_value(), 0.0);
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
   EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_actuator, empty_keys));
   EXPECT_EQ(claimed_system_acceleration_state_->get_value(), 0.0);
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
 
-  EXPECT_FALSE(rm_->prepare_command_mode_switch(empty_keys, legal_keys_actuator));
+  EXPECT_TRUE(rm_->prepare_command_mode_switch(empty_keys, legal_keys_actuator));
   EXPECT_EQ(claimed_system_acceleration_state_->get_value(), 0.0);
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
   EXPECT_TRUE(rm_->perform_command_mode_switch(empty_keys, legal_keys_actuator));