fix parameter loading in tests

Author: fmauch

joint_trajectory_controller/test/test_trajectory_actions.cpp

@@ -1115,7 +1115,7 @@ TEST_P(TestTrajectoryActionsTestScalingFactor, test_scaling_execution_time_succe
   // the error will be whatever the command diff is.
   std::vector<rclcpp::Parameter> params = {
     rclcpp::Parameter("open_loop_control", false),
-    rclcpp::Parameter("scaling_factor_initial_default", scaling_factor),
+    rclcpp::Parameter("speed_scaling.initial_scaling_factor", scaling_factor),
     rclcpp::Parameter("constraints.joint1.trajectory", state_tol),
     rclcpp::Parameter("constraints.joint2.trajectory", state_tol),
     rclcpp::Parameter("constraints.joint3.trajectory", state_tol),
@@ -1192,7 +1192,7 @@ TEST_P(TestTrajectoryActionsTestScalingFactor, test_scaling_sampling_is_correct)
 {
   double scaling_factor = GetParam();
   std::vector<rclcpp::Parameter> params = {
-    rclcpp::Parameter("scaling_factor_initial_default", scaling_factor),
+    rclcpp::Parameter("speed_scaling.initial_scaling_factor", scaling_factor),
     rclcpp::Parameter("constraints.joint1.goal", 1e-3),
     rclcpp::Parameter("constraints.joint2.goal", 1e-3),
     rclcpp::Parameter("constraints.joint3.goal", 1e-3),

joint_trajectory_controller/test/test_trajectory_controller.cpp

@@ -2697,7 +2697,7 @@ TEST_F(TrajectoryControllerTest, scaling_factor_from_param)
   double initial_factor = 0.123;
   rclcpp::executors::MultiThreadedExecutor executor;
   std::vector<rclcpp::Parameter> params = {
-    rclcpp::Parameter("speed_scaling/initial_scaling_factor", initial_factor),
+    rclcpp::Parameter("speed_scaling.initial_scaling_factor", initial_factor),
   };
   SetUpAndActivateTrajectoryController(executor, params);
   subscribeToState(executor);
@@ -2714,8 +2714,8 @@ TEST_F(
   double initial_factor = 0.123;
   rclcpp::executors::MultiThreadedExecutor executor;
   std::vector<rclcpp::Parameter> params = {
-    rclcpp::Parameter("speed_scaling/initial_scaling_factor", initial_factor),
-    rclcpp::Parameter("speed_scaling/state_interface", "idontexist"),
+    rclcpp::Parameter("speed_scaling.initial_scaling_factor", initial_factor),
+    rclcpp::Parameter("speed_scaling.state_interface", "idontexist"),
   };
   SetUpTrajectoryController(executor, params);
 
@@ -2732,8 +2732,8 @@ TEST_F(
   double initial_factor = 0.123;
   rclcpp::executors::MultiThreadedExecutor executor;
   std::vector<rclcpp::Parameter> params = {
-    rclcpp::Parameter("speed_scaling/initial_scaling_factor", initial_factor),
-    rclcpp::Parameter("speed_scaling/command_interface", "idontexist"),
+    rclcpp::Parameter("speed_scaling.initial_scaling_factor", initial_factor),
+    rclcpp::Parameter("speed_scaling.command_interface", "idontexist"),
   };
   SetUpTrajectoryController(executor, params);
 
@@ -2749,8 +2749,8 @@ TEST_F(TrajectoryControllerTest, scaling_state_interface_sets_value)
   double initial_factor = 0.123;
   rclcpp::executors::MultiThreadedExecutor executor;
   std::vector<rclcpp::Parameter> params = {
-    rclcpp::Parameter("speed_scaling/initial_scaling_factor", initial_factor),
-    rclcpp::Parameter("speed_scaling/state_interface", "speed_scaling/speed_scaling_factor"),
+    rclcpp::Parameter("speed_scaling.initial_scaling_factor", initial_factor),
+    rclcpp::Parameter("speed_scaling.state_interface", "speed_scaling/speed_scaling_factor"),
   };
   SetUpAndActivateTrajectoryController(executor, params);
 
@@ -2783,9 +2783,9 @@ TEST_F(TrajectoryControllerTest, scaling_command_interface_sets_value)
   double initial_factor = 0.123;
   rclcpp::executors::MultiThreadedExecutor executor;
   std::vector<rclcpp::Parameter> params = {
-    rclcpp::Parameter("speed_scaling/initial_scaling_factor", initial_factor),
-    rclcpp::Parameter("speed_scaling/state_interface", "speed_scaling/speed_scaling_factor"),
-    rclcpp::Parameter("speed_scaling/command_interface", "speed_scaling/target_speed_fraction_cmd"),
+    rclcpp::Parameter("speed_scaling.initial_scaling_factor", initial_factor),
+    rclcpp::Parameter("speed_scaling.state_interface", "speed_scaling/speed_scaling_factor"),
+    rclcpp::Parameter("speed_scaling.command_interface", "speed_scaling/target_speed_fraction_cmd"),
   };
   SetUpAndActivateTrajectoryController(executor, params);
 
@@ -2818,8 +2818,8 @@ TEST_F(TrajectoryControllerTest, activate_with_scaling_interfaces)
 {
   rclcpp::executors::MultiThreadedExecutor executor;
   std::vector<rclcpp::Parameter> params = {
-    rclcpp::Parameter("speed_scaling/state_interface", "speed_scaling/speed_scaling_factor"),
-    rclcpp::Parameter("speed_scaling/command_interface", "speed_scaling/target_speed_fraction_cmd"),
+    rclcpp::Parameter("speed_scaling.state_interface", "speed_scaling/speed_scaling_factor"),
+    rclcpp::Parameter("speed_scaling.command_interface", "speed_scaling/target_speed_fraction_cmd"),
   };
   SetUpTrajectoryController(executor, params);