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Fix JTC test speed scaling publisher (backport #2153) #2162

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Merged
christophfroehlich merged 1 commit into from
Feb 10, 2026
Merged

Fix JTC test speed scaling publisher (backport #2153) #2162

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12 changes: 9 additions & 3 deletions joint_trajectory_controller/test/test_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2675,8 +2675,10 @@ TEST_F(TrajectoryControllerTest, setting_scaling_factor_works_correctly)
rclcpp::executors::MultiThreadedExecutor executor;
std::vector<rclcpp::Parameter> params = {};
SetUpAndActivateTrajectoryController(executor, params);
// Create a QoS profile that matches the controller's speed_scaling subscriber
auto qos = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local();
auto speed_scaling_pub = node_->create_publisher<control_msgs::msg::SpeedScalingFactor>(
controller_name_ + "/speed_scaling_input", rclcpp::SystemDefaultsQoS());
controller_name_ + "/speed_scaling_input", qos);
subscribeToState(executor);

control_msgs::msg::SpeedScalingFactor msg;
Expand Down Expand Up @@ -2775,8 +2777,10 @@ TEST_F(TrajectoryControllerTest, scaling_state_interface_sets_value)
};
SetUpAndActivateTrajectoryController(executor, params);

// Create a QoS profile that matches the controller's speed_scaling subscriber
auto qos = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local();
auto speed_scaling_pub = node_->create_publisher<control_msgs::msg::SpeedScalingFactor>(
controller_name_ + "/speed_scaling_input", rclcpp::SystemDefaultsQoS());
controller_name_ + "/speed_scaling_input", qos);
subscribeToState(executor);
updateController();
// Spin to receive latest state
Expand Down Expand Up @@ -2810,8 +2814,10 @@ TEST_F(TrajectoryControllerTest, scaling_command_interface_sets_value)
};
SetUpAndActivateTrajectoryController(executor, params);

// Create a QoS profile that matches the controller's speed_scaling subscriber
auto qos = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local();
auto speed_scaling_pub = node_->create_publisher<control_msgs::msg::SpeedScalingFactor>(
controller_name_ + "/speed_scaling_input", rclcpp::SystemDefaultsQoS());
controller_name_ + "/speed_scaling_input", qos);
subscribeToState(executor);
updateController();
// Spin to receive latest state
Expand Down