Added consistent naming in tests and fixed docs

Author: wittenator

steering_controllers_library/doc/userdoc.rst

@@ -6,6 +6,7 @@ steering_controllers_library
 =============================
 
 .. _steering_controller_status_msg: https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/SteeringControllerStatus.msg
+.. _steering_controller_command_msg: https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/SteeringControllerCommand.msg
 .. _odometry_msg: https://github.com/ros2/common_interfaces/blob/{DISTRO}/nav_msgs/msg/Odometry.msg
 .. _twist_msg: https://github.com/ros2/common_interfaces/blob/{DISTRO}/geometry_msgs/msg/TwistStamped.msg
 .. _tf_msg: https://github.com/ros2/geometry2/blob/{DISTRO}/tf2_msgs/msg/TFMessage.msg
@@ -21,7 +22,7 @@ For an introduction to mobile robot kinematics and the nomenclature used here, s
 Execution logic of the controller
 ----------------------------------
 
-The controller uses velocity input, i.e., stamped `twist messages <twist_msg_>`_ where linear ``x`` and angular ``z`` components are used if ``twist_input == true``. If ``twist_input == false``, the controller uses `ackermann drive messages <ackermann_drive_stamped_msg_>`_ where linear ``speed`` and angular ``steering_angle`` components are used.
+The controller uses velocity input, i.e., stamped `twist messages <twist_msg_>`_ where linear ``x`` and angular ``z`` components are used if ``twist_input == true``. If ``twist_input == false``, the controller uses `control_msgs/msg/SteeringControllerStatus <steering_controller_status_msg_>`_ where linear ``speed`` and angular ``steering_angle`` components are used.
 Values in other components are ignored.
 
 In the chain mode the controller provides two reference interfaces, one for linear velocity and one for steering angle position.
@@ -85,7 +86,7 @@ Subscribers
 Used when controller is not in chained mode (``in_chained_mode == false``) and the twist input mode is activated (``twist_input == true``):
 - ``<controller_name>/reference``  [`geometry_msgs/msg/TwistStamped <twist_msg_>`_]
 When the controller is not in chained mode (``in_chained_mode == false``) and the twist input mode is not activated (``twist_input == false``):
-- ``<controller_name>/reference``  [`ackermann_msgs/msg/AckermannDriveStamped <ackermann_drive_stamped_msg_>`_]
+- ``<controller_name>/reference``  [`control_msgs/msg/SteeringControllerCommand <steering_controller_command_msg_>`_]
 
 Publishers
 ,,,,,,,,,,,

steering_controllers_library/test/test_steering_controllers_library_steering_input.cpp

@@ -37,16 +37,16 @@ TEST_F(SteeringControllersLibrarySteeringInputTest, check_exported_interfaces)
   ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
   EXPECT_EQ(
     cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
-    traction_wheels_names_[0] + "/" + traction_interface_name_);
+    traction_joints_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
     cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
-    traction_wheels_names_[1] + "/" + traction_interface_name_);
+    traction_joints_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
     cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL],
-    steering_wheels_names_[0] + "/" + steering_interface_name_);
+    steering_joints_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
     cmd_if_conf.names[CMD_STEER_LEFT_WHEEL],
-    steering_wheels_names_[1] + "/" + steering_interface_name_);
+    steering_joints_names_[1] + "/" + steering_interface_name_);
   EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   auto state_if_conf = controller_->state_interface_configuration();

steering_controllers_library/test/test_steering_controllers_library_steering_input.hpp

@@ -175,25 +175,25 @@ class SteeringControllersSteeringInputLibraryFixture : public ::testing::Test
 
     command_itfs_.emplace_back(
       hardware_interface::CommandInterface(
-        traction_wheels_names_[0], traction_interface_name_,
+        traction_joints_names_[0], traction_interface_name_,
         &joint_command_values_[CMD_TRACTION_RIGHT_WHEEL]));
     command_ifs.emplace_back(command_itfs_.back());
 
     command_itfs_.emplace_back(
       hardware_interface::CommandInterface(
-        traction_wheels_names_[1], steering_interface_name_,
+        traction_joints_names_[1], steering_interface_name_,
         &joint_command_values_[CMD_TRACTION_LEFT_WHEEL]));
     command_ifs.emplace_back(command_itfs_.back());
 
     command_itfs_.emplace_back(
       hardware_interface::CommandInterface(
-        steering_wheels_names_[0], steering_interface_name_,
+        steering_joints_names_[0], steering_interface_name_,
         &joint_command_values_[CMD_STEER_RIGHT_WHEEL]));
     command_ifs.emplace_back(command_itfs_.back());
 
     command_itfs_.emplace_back(
       hardware_interface::CommandInterface(
-        steering_wheels_names_[1], steering_interface_name_,
+        steering_joints_names_[1], steering_interface_name_,
         &joint_command_values_[CMD_STEER_LEFT_WHEEL]));
     command_ifs.emplace_back(command_itfs_.back());
 
@@ -203,25 +203,25 @@ class SteeringControllersSteeringInputLibraryFixture : public ::testing::Test
 
     state_itfs_.emplace_back(
       hardware_interface::StateInterface(
-        traction_wheels_names_[0], traction_interface_name_,
+        traction_joints_names_[0], traction_interface_name_,
         &joint_state_values_[STATE_TRACTION_RIGHT_WHEEL]));
     state_ifs.emplace_back(state_itfs_.back());
 
     state_itfs_.emplace_back(
       hardware_interface::StateInterface(
-        traction_wheels_names_[1], traction_interface_name_,
+        traction_joints_names_[1], traction_interface_name_,
         &joint_state_values_[STATE_TRACTION_LEFT_WHEEL]));
     state_ifs.emplace_back(state_itfs_.back());
 
     state_itfs_.emplace_back(
       hardware_interface::StateInterface(
-        steering_wheels_names_[0], steering_interface_name_,
+        steering_joints_names_[0], steering_interface_name_,
         &joint_state_values_[STATE_STEER_RIGHT_WHEEL]));
     state_ifs.emplace_back(state_itfs_.back());
 
     state_itfs_.emplace_back(
       hardware_interface::StateInterface(
-        steering_wheels_names_[1], steering_interface_name_,
+        steering_joints_names_[1], steering_interface_name_,
         &joint_state_values_[STATE_STEER_LEFT_WHEEL]));
     state_ifs.emplace_back(state_itfs_.back());
 
@@ -305,21 +305,18 @@ class SteeringControllersSteeringInputLibraryFixture : public ::testing::Test
   bool open_loop_ = false;
   unsigned int velocity_rolling_window_size_ = 10;
   bool position_feedback_ = false;
-  std::vector<std::string> traction_wheels_names_ = {
+  std::vector<std::string> traction_joints_names_ = {
     "rear_right_wheel_joint", "rear_left_wheel_joint"};
-  std::vector<std::string> steering_wheels_names_ = {
+  std::vector<std::string> steering_joints_names_ = {
     "front_right_steering_joint", "front_left_steering_joint"};
   std::vector<std::string> joint_names_ = {
-    traction_wheels_names_[0], traction_wheels_names_[1], steering_wheels_names_[0],
-    steering_wheels_names_[1]};
+    traction_joints_names_[0], traction_joints_names_[1], steering_joints_names_[0],
+    steering_joints_names_[1]};
 
-  std::vector<std::string> rear_wheels_preceeding_names_ = {
+  std::vector<std::string> traction_joints_preceding_names_ = {
     "pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"};
-  std::vector<std::string> front_wheels_preceeding_names_ = {
+  std::vector<std::string> steering_joints_preceding_names_ = {
     "pid_controller/front_right_steering_joint", "pid_controller/front_left_steering_joint"};
-  std::vector<std::string> preceeding_joint_names_ = {
-    rear_wheels_preceeding_names_[0], rear_wheels_preceeding_names_[1],
-    front_wheels_preceeding_names_[0], front_wheels_preceeding_names_[1]};
 
   double wheelbase_ = 3.24644;
   double front_wheel_track_ = 2.12321;