Use a remap for the controller topic

Author: Felix Exner

ur_robot_driver/test/driver.test

@@ -9,6 +9,9 @@
     <arg name="headless_mode" value="true"/>
   </include>
 
+  <!--If the default controller changes, this remap has to be adapted, as well-->
+  <remap from="follow_joint_trajectory" to="/scaled_pos_traj_controller/follow_joint_trajectory" />
+
   <test test-name="switch_on_test" pkg="ur_robot_driver" type="switch_on_test.py" name="switch_on_test1" time-limit="60.0"/>
   <test test-name="io_test" pkg="ur_robot_driver" type="io_test.py" name="io_test1" time-limit="60.0"/>
   <test test-name="trajectory_test" pkg="ur_robot_driver" type="trajectory_test.py" name="traj_test1" time-limit="120.0"/>

ur_robot_driver/test/trajectory_test.py

@@ -19,7 +19,7 @@ def __init__(self, *args):
         super(TrajectoryTest, self).__init__(*args)
         rospy.init_node('trajectory_testing_client')
         self.client = actionlib.SimpleActionClient(
-            '/scaled_pos_traj_controller/follow_joint_trajectory', FollowJointTrajectoryAction)
+            'follow_joint_trajectory', FollowJointTrajectoryAction)
         timeout = rospy.Duration(30)
         try:
             self.client.wait_for_server(timeout)