From 6b44ba8ebfbe73e00bb0893a2300135b2d9cfcdf Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Tue, 2 Apr 2024 16:47:33 -0600 Subject: [PATCH] rename controller Signed-off-by: Paul Gesel --- antipodal_gripper_controller/CMakeLists.txt | 84 ------------------- .../ros_control_plugins.xml | 10 --- .../gripper_action_controller_impl.hpp | 2 +- parallel_gripper_controller/CMakeLists.txt | 84 +++++++++++++++++++ .../doc/userdoc.rst | 8 +- .../parallel_gripper_action_controller.hpp | 26 +++--- ...arallel_gripper_action_controller_impl.hpp | 18 ++-- .../visibility_control.hpp | 6 +- .../package.xml | 4 +- .../ros_control_plugins.xml | 10 +++ .../parallel_gripper_action_controller.cpp | 4 +- ..._gripper_action_controller_parameters.yaml | 2 +- ...oad_parallel_gripper_action_controller.cpp | 0 .../test/test_parallel_gripper_controller.cpp | 4 +- .../test/test_parallel_gripper_controller.hpp | 10 +-- 15 files changed, 136 insertions(+), 136 deletions(-) delete mode 100644 antipodal_gripper_controller/CMakeLists.txt delete mode 100644 antipodal_gripper_controller/ros_control_plugins.xml create mode 100644 parallel_gripper_controller/CMakeLists.txt rename {antipodal_gripper_controller => parallel_gripper_controller}/doc/userdoc.rst (79%) rename antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp => parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp (86%) rename antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller_impl.hpp => parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp (95%) rename {antipodal_gripper_controller/include/antipodal_gripper_controller => parallel_gripper_controller/include/parallel_gripper_controller}/visibility_control.hpp (92%) rename {antipodal_gripper_controller => parallel_gripper_controller}/package.xml (89%) create mode 100644 parallel_gripper_controller/ros_control_plugins.xml rename antipodal_gripper_controller/src/antipodal_gripper_action_controller.cpp => parallel_gripper_controller/src/parallel_gripper_action_controller.cpp (84%) rename antipodal_gripper_controller/src/antipodal_gripper_action_controller_parameters.yaml => parallel_gripper_controller/src/parallel_gripper_action_controller_parameters.yaml (97%) rename antipodal_gripper_controller/test/test_load_antipodal_gripper_action_controller.cpp => parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp (100%) rename antipodal_gripper_controller/test/test_antipodal_gripper_controller.cpp => parallel_gripper_controller/test/test_parallel_gripper_controller.cpp (97%) rename antipodal_gripper_controller/test/test_antipodal_gripper_controller.hpp => parallel_gripper_controller/test/test_parallel_gripper_controller.hpp (84%) diff --git a/antipodal_gripper_controller/CMakeLists.txt b/antipodal_gripper_controller/CMakeLists.txt deleted file mode 100644 index 46de281e83..0000000000 --- a/antipodal_gripper_controller/CMakeLists.txt +++ /dev/null @@ -1,84 +0,0 @@ -cmake_minimum_required(VERSION 3.16) -project(antipodal_gripper_controller LANGUAGES CXX) - -if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") - add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable - -Werror=return-type -Werror=shadow -Werror=format) -endif() - -set(THIS_PACKAGE_INCLUDE_DEPENDS - control_msgs - control_toolbox - controller_interface - generate_parameter_library - hardware_interface - pluginlib - rclcpp - rclcpp_action - realtime_tools -) - -find_package(ament_cmake REQUIRED) -find_package(backward_ros REQUIRED) -foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) - find_package(${Dependency} REQUIRED) -endforeach() - -generate_parameter_library(antipodal_gripper_action_controller_parameters - src/antipodal_gripper_action_controller_parameters.yaml -) - -add_library(antipodal_gripper_action_controller SHARED - src/antipodal_gripper_action_controller.cpp -) -target_compile_features(antipodal_gripper_action_controller PUBLIC cxx_std_17) -target_include_directories(antipodal_gripper_action_controller PUBLIC - $ - $ -) -target_link_libraries(antipodal_gripper_action_controller PUBLIC - antipodal_gripper_action_controller_parameters -) -ament_target_dependencies(antipodal_gripper_action_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) - -pluginlib_export_plugin_description_file(controller_interface ros_control_plugins.xml) - -if(BUILD_TESTING) - find_package(ament_cmake_gmock REQUIRED) - find_package(controller_manager REQUIRED) - find_package(ros2_control_test_assets REQUIRED) - - ament_add_gmock(test_load_antipodal_gripper_action_controllers - test/test_load_antipodal_gripper_action_controller.cpp - ) - ament_target_dependencies(test_load_antipodal_gripper_action_controllers - controller_manager - ros2_control_test_assets - ) - - ament_add_gmock(test_antipodal_gripper_controller - test/test_antipodal_gripper_controller.cpp - ) - target_link_libraries(test_antipodal_gripper_controller - antipodal_gripper_action_controller - ) -endif() - -install( - DIRECTORY include/ - DESTINATION include/antipodal_gripper_action_controller -) -install( - TARGETS - antipodal_gripper_action_controller - antipodal_gripper_action_controller_parameters - EXPORT export_antipodal_gripper_action_controller - RUNTIME DESTINATION bin - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - INCLUDES DESTINATION include -) - -ament_export_targets(export_antipodal_gripper_action_controller HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) -ament_package() diff --git a/antipodal_gripper_controller/ros_control_plugins.xml b/antipodal_gripper_controller/ros_control_plugins.xml deleted file mode 100644 index 9c20e14360..0000000000 --- a/antipodal_gripper_controller/ros_control_plugins.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp index 76fb14fcd9..2c115091af 100644 --- a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp +++ b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp @@ -44,7 +44,7 @@ controller_interface::CallbackReturn GripperActionController: get_node()->get_logger(), "[Deprecated]: the `position_controllers/GripperActionController` and " "`effort_controllers::GripperActionController` controllers are replaced by " - "'antipodal_gripper_controllers/GripperActionController' controller"); + "'parallel_gripper_controllers/GripperActionController' controller"); try { param_listener_ = std::make_shared(get_node()); diff --git a/parallel_gripper_controller/CMakeLists.txt b/parallel_gripper_controller/CMakeLists.txt new file mode 100644 index 0000000000..34bd6d93ee --- /dev/null +++ b/parallel_gripper_controller/CMakeLists.txt @@ -0,0 +1,84 @@ +cmake_minimum_required(VERSION 3.16) +project(parallel_gripper_controller LANGUAGES CXX) + +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") + add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable + -Werror=return-type -Werror=shadow -Werror=format) +endif() + +set(THIS_PACKAGE_INCLUDE_DEPENDS + control_msgs + control_toolbox + controller_interface + generate_parameter_library + hardware_interface + pluginlib + rclcpp + rclcpp_action + realtime_tools +) + +find_package(ament_cmake REQUIRED) +find_package(backward_ros REQUIRED) +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + +generate_parameter_library(parallel_gripper_action_controller_parameters + src/parallel_gripper_action_controller_parameters.yaml +) + +add_library(parallel_gripper_action_controller SHARED + src/parallel_gripper_action_controller.cpp +) +target_compile_features(parallel_gripper_action_controller PUBLIC cxx_std_17) +target_include_directories(parallel_gripper_action_controller PUBLIC + $ + $ +) +target_link_libraries(parallel_gripper_action_controller PUBLIC + parallel_gripper_action_controller_parameters +) +ament_target_dependencies(parallel_gripper_action_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + +pluginlib_export_plugin_description_file(controller_interface ros_control_plugins.xml) + +if(BUILD_TESTING) + find_package(ament_cmake_gmock REQUIRED) + find_package(controller_manager REQUIRED) + find_package(ros2_control_test_assets REQUIRED) + + ament_add_gmock(test_load_parallel_gripper_action_controllers + test/test_load_parallel_gripper_action_controller.cpp + ) + ament_target_dependencies(test_load_parallel_gripper_action_controllers + controller_manager + ros2_control_test_assets + ) + + ament_add_gmock(test_parallel_gripper_controller + test/test_parallel_gripper_controller.cpp + ) + target_link_libraries(test_parallel_gripper_controller + parallel_gripper_action_controller + ) +endif() + +install( + DIRECTORY include/ + DESTINATION include/parallel_gripper_action_controller +) +install( + TARGETS + parallel_gripper_action_controller + parallel_gripper_action_controller_parameters + EXPORT export_parallel_gripper_action_controller + RUNTIME DESTINATION bin + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + INCLUDES DESTINATION include +) + +ament_export_targets(export_parallel_gripper_action_controller HAS_LIBRARY_TARGET) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) +ament_package() diff --git a/antipodal_gripper_controller/doc/userdoc.rst b/parallel_gripper_controller/doc/userdoc.rst similarity index 79% rename from antipodal_gripper_controller/doc/userdoc.rst rename to parallel_gripper_controller/doc/userdoc.rst index 8c76db6227..be32591c75 100644 --- a/antipodal_gripper_controller/doc/userdoc.rst +++ b/parallel_gripper_controller/doc/userdoc.rst @@ -1,11 +1,11 @@ -:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/antipodal_gripper_controller/doc/userdoc.rst +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/parallel_gripper_controller/doc/userdoc.rst -.. _antipodal_gripper_controller_userdoc: +.. _parallel_gripper_controller_userdoc: -Antipodal Gripper Action Controller +Parallel Gripper Action Controller ----------------------------------- -Controller for executing a ``AntipodalGripperCommand`` action for simple antipodal grippers. +Controller for executing a ``ParallelGripperCommand`` action for simple parallel grippers. This controller supports grippers that offer position only control as well as grippers that allow configuring the velocity and effort. By default, the controller will only claim the `{joint}/position` interface for control. The velocity and effort interfaces can be optionally claimed by setting the `max_velocity_interface` and `max_effort_interface` parameter, respectively. diff --git a/antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp similarity index 86% rename from antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp rename to parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp index 45b7697528..f8f4df2492 100644 --- a/antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp +++ b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp @@ -14,8 +14,8 @@ /// \author Sachin Chitta, Adolfo Rodriguez Tsouroukdissian -#ifndef ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_ -#define ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_ +#ifndef PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_ +#define PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_ // C++ standard #include @@ -27,13 +27,13 @@ #include "rclcpp/rclcpp.hpp" // ROS messages -#include "control_msgs/action/antipodal_gripper_command.hpp" +#include "control_msgs/action/parallel_gripper_command.hpp" // rclcpp_action #include "rclcpp_action/create_server.hpp" // ros_controls -#include "antipodal_gripper_controller/visibility_control.hpp" +#include "parallel_gripper_controller/visibility_control.hpp" #include "controller_interface/controller_interface.hpp" #include "hardware_interface/loaned_command_interface.hpp" #include "hardware_interface/loaned_state_interface.hpp" @@ -41,12 +41,12 @@ #include "realtime_tools/realtime_server_goal_handle.h" // Project -#include "antipodal_gripper_action_controller_parameters.hpp" +#include "parallel_gripper_action_controller_parameters.hpp" -namespace antipodal_gripper_action_controller +namespace parallel_gripper_action_controller { /** - * \brief Controller for executing a `AntipodalGripperCommand` action. + * \brief Controller for executing a `ParallelGripperCommand` action. * * \tparam HardwareInterface Controller hardware interface. Currently \p * hardware_interface::HW_IF_POSITION and \p @@ -107,12 +107,12 @@ class GripperActionController : public controller_interface::ControllerInterface Commands command_struct_, command_struct_rt_; protected: - using GripperCommandAction = control_msgs::action::AntipodalGripperCommand; + using GripperCommandAction = control_msgs::action::ParallelGripperCommand; using ActionServer = rclcpp_action::Server; using ActionServerPtr = ActionServer::SharedPtr; using GoalHandle = rclcpp_action::ServerGoalHandle; using RealtimeGoalHandle = - realtime_tools::RealtimeServerGoalHandle; + realtime_tools::RealtimeServerGoalHandle; using RealtimeGoalHandlePtr = std::shared_ptr; using RealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer; @@ -136,7 +136,7 @@ class GripperActionController : public controller_interface::ControllerInterface RealtimeGoalHandleBuffer rt_active_goal_; ///< Container for the currently active action goal, if any. - control_msgs::action::AntipodalGripperCommand::Result::SharedPtr pre_alloc_result_; + control_msgs::action::ParallelGripperCommand::Result::SharedPtr pre_alloc_result_; rclcpp::Duration action_monitor_period_; @@ -167,8 +167,8 @@ class GripperActionController : public controller_interface::ControllerInterface double current_velocity); }; -} // namespace antipodal_gripper_action_controller +} // namespace parallel_gripper_action_controller -#include "antipodal_gripper_controller/antipodal_gripper_action_controller_impl.hpp" +#include "parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp" -#endif // ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_ +#endif // PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_ diff --git a/antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller_impl.hpp b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp similarity index 95% rename from antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller_impl.hpp rename to parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp index fac6be6974..d247206125 100644 --- a/antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller_impl.hpp +++ b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp @@ -14,16 +14,16 @@ /// \author Sachin Chitta, Adolfo Rodriguez Tsouroukdissian, Stu Glaser -#ifndef ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ -#define ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ +#ifndef PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ +#define PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ -#include "antipodal_gripper_controller/antipodal_gripper_action_controller.hpp" +#include "parallel_gripper_controller/parallel_gripper_action_controller.hpp" #include #include #include -namespace antipodal_gripper_action_controller +namespace parallel_gripper_action_controller { void GripperActionController::preempt_active_goal() @@ -83,7 +83,7 @@ rclcpp_action::GoalResponse GripperActionController::goal_callback( { if (goal_handle->command.position.size() != 1) { - pre_alloc_result_ = std::make_shared(); + pre_alloc_result_ = std::make_shared(); pre_alloc_result_->state.position.resize(1); pre_alloc_result_->state.effort.resize(1); RCLCPP_ERROR( @@ -332,7 +332,7 @@ controller_interface::CallbackReturn GripperActionController::on_activate( command_.initRT(command_struct_); // Result - pre_alloc_result_ = std::make_shared(); + pre_alloc_result_ = std::make_shared(); pre_alloc_result_->state.position.resize(1); pre_alloc_result_->state.effort.resize(1); pre_alloc_result_->state.position[0] = command_struct_.position_cmd_; @@ -340,7 +340,7 @@ controller_interface::CallbackReturn GripperActionController::on_activate( pre_alloc_result_->stalled = false; // Action interface - action_server_ = rclcpp_action::create_server( + action_server_ = rclcpp_action::create_server( get_node(), "~/gripper_cmd", std::bind( &GripperActionController::goal_callback, this, std::placeholders::_1, std::placeholders::_2), @@ -393,6 +393,6 @@ GripperActionController::GripperActionController() { } -} // namespace antipodal_gripper_action_controller +} // namespace parallel_gripper_action_controller -#endif // ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ +#endif // PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ diff --git a/antipodal_gripper_controller/include/antipodal_gripper_controller/visibility_control.hpp b/parallel_gripper_controller/include/parallel_gripper_controller/visibility_control.hpp similarity index 92% rename from antipodal_gripper_controller/include/antipodal_gripper_controller/visibility_control.hpp rename to parallel_gripper_controller/include/parallel_gripper_controller/visibility_control.hpp index 7e305c720d..63e5c8e1c7 100644 --- a/antipodal_gripper_controller/include/antipodal_gripper_controller/visibility_control.hpp +++ b/parallel_gripper_controller/include/parallel_gripper_controller/visibility_control.hpp @@ -19,8 +19,8 @@ * library cannot have, but the consuming code must have inorder to link. */ -#ifndef ANTIPODAL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_ -#define ANTIPODAL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_ +#ifndef PARALLEL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_ +#define PARALLEL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_ // This logic was borrowed (then namespaced) from the examples on the gcc wiki: // https://gcc.gnu.org/wiki/Visibility @@ -53,4 +53,4 @@ #define GRIPPER_ACTION_CONTROLLER_PUBLIC_TYPE #endif -#endif // ANTIPODAL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_ +#endif // PARALLEL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_ diff --git a/antipodal_gripper_controller/package.xml b/parallel_gripper_controller/package.xml similarity index 89% rename from antipodal_gripper_controller/package.xml rename to parallel_gripper_controller/package.xml index 8fe2ecdfa4..f189071617 100644 --- a/antipodal_gripper_controller/package.xml +++ b/parallel_gripper_controller/package.xml @@ -3,9 +3,9 @@ href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> - antipodal_gripper_controller + parallel_gripper_controller 2.32.0 - The antipodal_gripper_controller package + The parallel_gripper_controller package Bence Magyar Apache License 2.0 diff --git a/parallel_gripper_controller/ros_control_plugins.xml b/parallel_gripper_controller/ros_control_plugins.xml new file mode 100644 index 0000000000..dcd9609ba7 --- /dev/null +++ b/parallel_gripper_controller/ros_control_plugins.xml @@ -0,0 +1,10 @@ + + + + + + + + diff --git a/antipodal_gripper_controller/src/antipodal_gripper_action_controller.cpp b/parallel_gripper_controller/src/parallel_gripper_action_controller.cpp similarity index 84% rename from antipodal_gripper_controller/src/antipodal_gripper_action_controller.cpp rename to parallel_gripper_controller/src/parallel_gripper_action_controller.cpp index f7b6c651a8..910686493d 100644 --- a/antipodal_gripper_controller/src/antipodal_gripper_action_controller.cpp +++ b/parallel_gripper_controller/src/parallel_gripper_action_controller.cpp @@ -15,11 +15,11 @@ /// \author Sachin Chitta // Project -#include +#include #include #include "pluginlib/class_list_macros.hpp" PLUGINLIB_EXPORT_CLASS( - antipodal_gripper_action_controller::GripperActionController, + parallel_gripper_action_controller::GripperActionController, controller_interface::ControllerInterface) diff --git a/antipodal_gripper_controller/src/antipodal_gripper_action_controller_parameters.yaml b/parallel_gripper_controller/src/parallel_gripper_action_controller_parameters.yaml similarity index 97% rename from antipodal_gripper_controller/src/antipodal_gripper_action_controller_parameters.yaml rename to parallel_gripper_controller/src/parallel_gripper_action_controller_parameters.yaml index 5c3fcf8e1e..9b0dbb8a05 100644 --- a/antipodal_gripper_controller/src/antipodal_gripper_action_controller_parameters.yaml +++ b/parallel_gripper_controller/src/parallel_gripper_action_controller_parameters.yaml @@ -1,4 +1,4 @@ -antipodal_gripper_action_controller: +parallel_gripper_action_controller: action_monitor_rate: { type: double, default_value: 20.0, diff --git a/antipodal_gripper_controller/test/test_load_antipodal_gripper_action_controller.cpp b/parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp similarity index 100% rename from antipodal_gripper_controller/test/test_load_antipodal_gripper_action_controller.cpp rename to parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp diff --git a/antipodal_gripper_controller/test/test_antipodal_gripper_controller.cpp b/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp similarity index 97% rename from antipodal_gripper_controller/test/test_antipodal_gripper_controller.cpp rename to parallel_gripper_controller/test/test_parallel_gripper_controller.cpp index 74f6d2e684..d9a5ae958b 100644 --- a/antipodal_gripper_controller/test/test_antipodal_gripper_controller.cpp +++ b/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp @@ -20,7 +20,7 @@ #include "gmock/gmock.h" -#include "test_antipodal_gripper_controller.hpp" +#include "test_parallel_gripper_controller.hpp" #include "hardware_interface/loaned_command_interface.hpp" #include "hardware_interface/types/hardware_interface_return_values.hpp" @@ -29,7 +29,7 @@ using hardware_interface::LoanedCommandInterface; using hardware_interface::LoanedStateInterface; -using GripperCommandAction = control_msgs::action::AntipodalGripperCommand; +using GripperCommandAction = control_msgs::action::ParallelGripperCommand; using GoalHandle = rclcpp_action::ServerGoalHandle; using testing::SizeIs; using testing::UnorderedElementsAre; diff --git a/antipodal_gripper_controller/test/test_antipodal_gripper_controller.hpp b/parallel_gripper_controller/test/test_parallel_gripper_controller.hpp similarity index 84% rename from antipodal_gripper_controller/test/test_antipodal_gripper_controller.hpp rename to parallel_gripper_controller/test/test_parallel_gripper_controller.hpp index 7b3a7036f7..d46d8722eb 100644 --- a/antipodal_gripper_controller/test/test_antipodal_gripper_controller.hpp +++ b/parallel_gripper_controller/test/test_parallel_gripper_controller.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TEST_ANTIPODAL_GRIPPER_CONTROLLER_HPP_ -#define TEST_ANTIPODAL_GRIPPER_CONTROLLER_HPP_ +#ifndef TEST_PARALLEL_GRIPPER_CONTROLLER_HPP_ +#define TEST_PARALLEL_GRIPPER_CONTROLLER_HPP_ #include #include @@ -21,14 +21,14 @@ #include "gmock/gmock.h" -#include "antipodal_gripper_controller/antipodal_gripper_action_controller.hpp" +#include "parallel_gripper_controller/parallel_gripper_action_controller.hpp" #include "hardware_interface/handle.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" namespace { // subclassing and friending so we can access member variables -class FriendGripperController : public antipodal_gripper_action_controller::GripperActionController +class FriendGripperController : public parallel_gripper_action_controller::GripperActionController { FRIEND_TEST(GripperControllerTest, CommandSuccessTest); }; @@ -63,4 +63,4 @@ class GripperControllerTest : public ::testing::Test } // anonymous namespace -#endif // TEST_ANTIPODAL_GRIPPER_CONTROLLER_HPP_ +#endif // TEST_PARALLEL_GRIPPER_CONTROLLER_HPP_