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Add test for time_from_start in feedback msg #1983

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Add test for time_from_start in feedback msg #1983

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cddd6c0
Fix format specifier
christophfroehlich Nov 2, 2025
c97fb45
Add test for time_from_start
christophfroehlich Nov 2, 2025
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2 changes: 1 addition & 1 deletion joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -319,7 +319,7 @@ inline bool check_state_tolerance_per_joint(
if (show_errors)
{
const auto logger = rclcpp::get_logger("tolerances");
RCLCPP_ERROR(logger, "State tolerances failed for joint %d:", joint_idx);
RCLCPP_ERROR(logger, "State tolerances failed for joint %lu:", joint_idx);

if (state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position)
{
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23 changes: 23 additions & 0 deletions joint_trajectory_controller/test/test_trajectory_controller.cpp
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Expand Up @@ -2104,3 +2104,26 @@ TEST_F(TrajectoryControllerTest, incorrect_initialization_using_interface_parame
state_interface_types_ = {"velocity"};
EXPECT_EQ(SetUpTrajectoryControllerLocal(), controller_interface::return_type::ERROR);
}

TEST_F(TrajectoryControllerTest, time_from_start_populated)
{
rclcpp::executors::SingleThreadedExecutor executor;
SetUpAndActivateTrajectoryController(executor, {});
subscribeToState(executor);

// schedule a single waypoint at 100ms:
builtin_interfaces::msg::Duration tfs;
tfs.sec = 0;
tfs.nanosec = 100000000;
publish(tfs, {INITIAL_POS_JOINTS}, rclcpp::Time(0));
traj_controller_->wait_for_trajectory(executor);

updateController();
// give the publish timer one more spin
executor.spin_some();

auto state = getState();
ASSERT_TRUE(state);
EXPECT_EQ(state->feedback.time_from_start.sec, 0u);
EXPECT_EQ(state->feedback.time_from_start.nanosec, 100000000u);
}
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