Merge pull request #182 from project-march/fix/test-setup

Fix/test setup

Author: Roelemans

march_hardware_builder/include/march_hardware_builder/AllowedRobot.h

@@ -11,8 +11,8 @@ class AllowedRobot
   {
     march4,
     march3,
-    testjoint_rotational,
-    testjoint_linear,
+    test_joint_rotational,
+    test_joint_linear,
     pdb,
   };
 
@@ -27,13 +27,13 @@ class AllowedRobot
     {
       this->value = march3;
     }
-    else if (robotName == "testjoint_rotational")
+    else if (robotName == "test_joint_rotational")
     {
-      this->value = testjoint_rotational;
+      this->value = test_joint_rotational;
     }
-    else if (robotName == "testjoint_linear")
+    else if (robotName == "test_joint_linear")
     {
-      this->value = testjoint_linear;
+      this->value = test_joint_linear;
     }
     else if (robotName == "pdb")
     {
@@ -42,7 +42,7 @@ class AllowedRobot
     else
     {
       ROS_ASSERT_MSG(false, "Unknown robot %s", robotName.c_str());
-      this->value = AllowedRobot::testjoint_rotational;
+      this->value = AllowedRobot::test_joint_rotational;
     }
   }
 
@@ -57,11 +57,11 @@ class AllowedRobot
     {
       return basePath.append("/robots/march3.yaml");
     }
-    else if (this->value == AllowedRobot::testjoint_rotational)
+    else if (this->value == AllowedRobot::test_joint_rotational)
     {
       return basePath.append("/robots/test_joint_rotational.yaml");
     }
-    else if (this->value == AllowedRobot::testjoint_linear)
+    else if (this->value == AllowedRobot::test_joint_linear)
     {
       return basePath.append("/robots/test_joint_linear.yaml");
     }

march_hardware_builder/test/TestAllowedRobots.cpp

@@ -98,10 +98,10 @@ TEST_F(AllowedRobotTest, TestMarch3Values)
 
 TEST_F(AllowedRobotTest, TestTestRotationalSetupCreation)
 {
-  ASSERT_NO_THROW(HardwareBuilder(AllowedRobot::testjoint_rotational).createMarchRobot());
+  ASSERT_NO_THROW(HardwareBuilder(AllowedRobot::test_joint_rotational).createMarchRobot());
 }
 
 TEST_F(AllowedRobotTest, TestTestLinearSetupCreation)
 {
-  ASSERT_NO_THROW(HardwareBuilder(AllowedRobot::testjoint_linear).createMarchRobot());
+  ASSERT_NO_THROW(HardwareBuilder(AllowedRobot::test_joint_linear).createMarchRobot());
 }

march_hardware_interface/launch/hardware.launch

@@ -10,11 +10,7 @@
         <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
         <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="true"
-              args="
-                    /march/controller/joint_state
-                    /march/controller/temperature_sensor
-                    /march/controller/trajectory
-                "
+              args="controller/joint_state controller/temperature_sensor controller/trajectory"
         />
 
         <node