Set enable_feedforward parameter in the respective tests (backport #1743) (#1744)

mergify[bot] · saikishor · web-flow · commit 9683ad48b230 · 2025-06-07T21:34:39.000+02:00
Co-authored-by: Sai Kishor Kothakota &lt;sai.kishor@pal-robotics.com&gt;
diff --git a/pid_controller/test/test_pid_controller.cpp b/pid_controller/test/test_pid_controller.cpp
@@ -346,6 +346,7 @@ TEST_F(PidControllerTest, test_update_logic_feedforward_on_with_zero_feedforward
 
   controller_->set_reference(dof_command_values_);
 
+  controller_->get_node()->set_parameter(rclcpp::Parameter("enable_feedforward", true));
   controller_->feedforward_mode_enabled_.writeFromNonRT(true);
   EXPECT_EQ(*(controller_->feedforward_mode_enabled_.readFromRT()), true);
 
@@ -586,6 +587,7 @@ TEST_F(PidControllerTest, test_update_chained_feedforward_with_gain)
   const double expected_command_value = 6.95;
 
   SetUpController("test_pid_controller_with_feedforward_gain");
+  controller_->get_node()->set_parameter(rclcpp::Parameter("enable_feedforward", true));
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
   // check on interfaces & pid gain parameters
diff --git a/pid_controller/test/test_pid_controller_dual_interface.cpp b/pid_controller/test/test_pid_controller_dual_interface.cpp
@@ -56,6 +56,7 @@ class PidControllerDualInterfaceTest : public PidControllerFixture<TestablePidCo
 TEST_F(PidControllerDualInterfaceTest, test_chained_feedforward_with_gain_dual_interface)
 {
   SetUpController("test_pid_controller_with_feedforward_gain_dual_interface");
+  controller_->get_node()->set_parameter(rclcpp::Parameter("enable_feedforward", true));
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
   // check on interfaces & pid gain parameters

Original file line number	Diff line number	Diff line change
`@@ -56,6 +56,7 @@ class PidControllerDualInterfaceTest : public PidControllerFixture<TestablePidCo`
`56`	`56`	`TEST_F(PidControllerDualInterfaceTest, test_chained_feedforward_with_gain_dual_interface)`
`57`	`57`	`{`
`58`	`58`	`SetUpController("test_pid_controller_with_feedforward_gain_dual_interface");`
	`59`	`+ controller_->get_node()->set_parameter(rclcpp::Parameter("enable_feedforward", true));`
`59`	`60`	`ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);`
`60`	`61`
`61`	`62`	`// check on interfaces & pid gain parameters`