Merge pull request #283 from project-march/fix/test-joint-yaml

Fix/test joint yaml

Author: RutgerVanBeek

march_hardware_builder/robots/test_joint_rotational.yaml

@@ -1,9 +1,10 @@
 testsetup:
   ifName: enp2s0
   ecatCycleTime: 4
+  ecatSlaveTimeout: 50
   joints:
     - rotational_joint:
-        actuationMode: position
+        actuationMode: torque
         allowActuation: true
         imotioncube:
           slaveIndex: 1

march_hardware_builder/test/allowed_robot_test.cpp

@@ -36,3 +36,10 @@ TEST(AllowedRobotTest, TestTestLinearSetupCreation)
   urdf.initFile(ros::package::getPath("march_description").append("/urdf/test_joint_linear.urdf"));
   ASSERT_NO_THROW(HardwareBuilder(AllowedRobot::test_joint_linear, urdf).createMarchRobot());
 }
+
+TEST(AllowedRobotTest, TestTestRotationalSetupCreation)
+{
+  urdf::Model urdf;
+  urdf.initFile(ros::package::getPath("march_description").append("/urdf/test_joint_rotational.urdf"));
+  ASSERT_NO_THROW(HardwareBuilder(AllowedRobot::test_joint_rotational, urdf).createMarchRobot());
+}

march_hardware_interface/config/test_joint_linear/controllers.yaml

@@ -17,3 +17,9 @@ march:
 #      gains: # Required because we're controlling an effort interface
 #        test_joint: {p: 50, i: 0, d: 10, i_clamp: 10, publish_state: true, antiwindup: true}
         # Note: these gains are tuned for the KFE joints in the exoskeleton
+
+      constraints:
+        linear_joint:
+          margin_soft_limit_error: 0.5
+          trajectory: 0.305
+          goal: 0.305

march_hardware_interface/config/test_joint_rotational/controllers.yaml

@@ -13,3 +13,8 @@ march:
       type: position_controllers/JointTrajectoryController
       joints:
         - rotational_joint
+      constraints:
+        rotational_joint:
+          margin_soft_limit_error: 0.5
+          trajectory: 0.305
+          goal: 0.305