ROS2 docking fix joy (#439)

* Fixed utils test, fixed joy Signed-off-by: Jakub Delicat <[email protected]> * Revert "Fixed utils test, fixed joy" This reverts commit 3bd5e30. * Fixed bt utils test, changed dock jot input Signed-off-by: Jakub Delicat <[email protected]> * Joy input and typo Signed-off-by: Jakub Delicat <[email protected]> --------- Signed-off-by: Jakub Delicat <[email protected]>
husarion · Nov 8, 2024 · 5fc7560 · 5fc7560
1 parent 4189b20
commit 5fc7560
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/panther_manager/behavior_trees/docking.xml b/panther_manager/behavior_trees/docking.xml
@@ -8,7 +8,7 @@
                        topic_name="joy"
                        timeout="2.0"
                        axes=""
-                       buttons="0;0;0;1;1;1"/>
+                       buttons="0;0;0;1;1;1;0;0;0;0;0;0"/>
           <DockRobot name="Dock Action"
                      use_dock_id="true"
                      dock_id="main_dock"
@@ -22,7 +22,7 @@
                        topic_name="joy"
                        timeout="2.0"
                        axes=""
-                       buttons="1;0;0;0;1;1"/>
+                       buttons="1;0;0;0;1;1;0;0;0;0;0;0"/>
           <UndockRobot name="Undock Action"
                        dock_type="panther_charging_dock"
                        max_undocking_time="100"

diff --git a/panther_manager/src/plugins/condition/check_joy_msg.cpp b/panther_manager/src/plugins/condition/check_joy_msg.cpp
@@ -61,7 +61,7 @@ bool CheckJoyMsg::checkButtons(const JoyMsg::SharedPtr & last_msg)
     RCLCPP_WARN_STREAM(
       this->logger(), GetLoggerPrefix(name())
                         << "Joy message has " << last_msg->buttons.size()
-                        << " axes, expected at least " << expected_buttons.size());
+                        << " buttons, expected at least " << expected_buttons.size());
     return false;
   }
 

diff --git a/panther_manager/test/test_behavior_tree_utils.cpp b/panther_manager/test/test_behavior_tree_utils.cpp
@@ -175,7 +175,7 @@ TEST(TestConvertFromStringVectorOfDouble, GoodInput)
 TEST(TestConvertFromStringVectorOfFloat, WrongInput)
 {
   auto str = "1;2;3;0.1;a;0.2";
-  EXPECT_THROW(BT::convertFromString<std::vector<float>>(str), BT::RuntimeError);
+  EXPECT_THROW(BT::convertFromString<std::vector<float>>(str), std::invalid_argument);
 }
 
 int main(int argc, char ** argv)