Align with the change in ur_msgs

Author: urrsk

ur_controllers/src/friction_model_controller.cpp

@@ -171,23 +171,25 @@ bool FrictionModelController::setFrictionModelParameters(
     return false;
   }
 
-  if (req->viscous_scale.size() != 6) {
+  if (req->parameters.viscous_scale.size() != 6) {
     RCLCPP_ERROR(get_node()->get_logger(), "viscous_scale must have exactly 6 elements, got %zu.",
-                 req->viscous_scale.size());
+                 req->parameters.viscous_scale.size());
     resp->success = false;
     return false;
   }
 
-  if (req->coulomb_scale.size() != 6) {
+  if (req->parameters.coulomb_scale.size() != 6) {
     RCLCPP_ERROR(get_node()->get_logger(), "coulomb_scale must have exactly 6 elements, got %zu.",
-                 req->coulomb_scale.size());
+                 req->parameters.coulomb_scale.size());
     resp->success = false;
     return false;
   }
 
   FrictionModelParameters friction_model_parameters;
-  std::copy(req->viscous_scale.begin(), req->viscous_scale.end(), friction_model_parameters.viscous_scale.begin());
-  std::copy(req->coulomb_scale.begin(), req->coulomb_scale.end(), friction_model_parameters.coulomb_scale.begin());
+  std::copy(req->parameters.viscous_scale.begin(), req->parameters.viscous_scale.end(),
+            friction_model_parameters.viscous_scale.begin());
+  std::copy(req->parameters.coulomb_scale.begin(), req->parameters.coulomb_scale.end(),
+            friction_model_parameters.coulomb_scale.begin());
 
   int tries = 0;
   while (!friction_model_params_buffer_.try_set(friction_model_parameters)) {

ur_robot_driver/test/integration_test_friction_model.py

@@ -47,6 +47,7 @@
 from rclpy.node import Node
 
 from controller_manager_msgs.srv import SwitchController
+from ur_msgs.msg import FrictionModelParameters
 
 sys.path.append(os.path.dirname(__file__))
 from test_common import (  # noqa: E402
@@ -113,8 +114,10 @@ def test_set_friction_model_parameters(self, tf_prefix):
         self._friction_model_interface = FrictionModelInterface(self.node)
 
         res = self._friction_model_interface.set_friction_model_parameters(
-            viscous_scale=[0.9, 0.9, 0.8, 0.9, 0.9, 0.9],
-            coulomb_scale=[0.8, 0.8, 0.7, 0.8, 0.8, 0.8],
+            parameters=FrictionModelParameters(
+                viscous_scale=[0.9, 0.9, 0.8, 0.9, 0.9, 0.9],
+                coulomb_scale=[0.8, 0.8, 0.7, 0.8, 0.8, 0.8],
+            ),
         )
         self.assertTrue(res.success)
 
@@ -145,15 +148,19 @@ def test_invalid_viscous_array_length(self, tf_prefix):
 
         # Too few elements
         res = self._friction_model_interface.set_friction_model_parameters(
-            viscous_scale=[0.9, 0.9, 0.8, 0.9, 0.9],
-            coulomb_scale=[0.8, 0.8, 0.7, 0.8, 0.8, 0.8],
+            parameters=FrictionModelParameters(
+                viscous_scale=[0.9, 0.9, 0.8, 0.9, 0.9],
+                coulomb_scale=[0.8, 0.8, 0.7, 0.8, 0.8, 0.8],
+            ),
         )
         self.assertFalse(res.success)
 
         # Too many elements
         res = self._friction_model_interface.set_friction_model_parameters(
-            viscous_scale=[0.9, 0.9, 0.8, 0.9, 0.9, 0.9, 0.9],
-            coulomb_scale=[0.8, 0.8, 0.7, 0.8, 0.8, 0.8],
+            parameters=FrictionModelParameters(
+                viscous_scale=[0.9, 0.9, 0.8, 0.9, 0.9, 0.9, 0.9],
+                coulomb_scale=[0.8, 0.8, 0.7, 0.8, 0.8, 0.8],
+            ),
         )
         self.assertFalse(res.success)
 
@@ -183,8 +190,10 @@ def test_invalid_coulomb_array_length(self, tf_prefix):
         self._friction_model_interface = FrictionModelInterface(self.node)
 
         res = self._friction_model_interface.set_friction_model_parameters(
-            viscous_scale=[0.9, 0.9, 0.8, 0.9, 0.9, 0.9],
-            coulomb_scale=[0.8, 0.8, 0.7],
+            parameters=FrictionModelParameters(
+                viscous_scale=[0.9, 0.9, 0.8, 0.9, 0.9, 0.9],
+                coulomb_scale=[0.8, 0.8, 0.7],
+            ),
         )
         self.assertFalse(res.success)
 
@@ -213,7 +222,9 @@ def test_set_friction_model_parameters_on_inactive_controller_fails(self, tf_pre
         self._friction_model_interface = FrictionModelInterface(self.node)
 
         res = self._friction_model_interface.set_friction_model_parameters(
-            viscous_scale=[0.9, 0.9, 0.8, 0.9, 0.9, 0.9],
-            coulomb_scale=[0.8, 0.8, 0.7, 0.8, 0.8, 0.8],
+            parameters=FrictionModelParameters(
+                viscous_scale=[0.9, 0.9, 0.8, 0.9, 0.9, 0.9],
+                coulomb_scale=[0.8, 0.8, 0.7, 0.8, 0.8, 0.8],
+            ),
         )
         self.assertFalse(res.success)