test_controllers_config Namespace Reference

Functions
dict	controllers (Path description_dir)
float	_wheel_radius_from_urdf (ET.Element urdf_root)
float	_wheel_separation_from_urdf (ET.Element urdf_root)
None	test_wheel_radius_matches_urdf (ET.Element urdf_root, dict controllers)
None	test_wheel_separation_matches_urdf (ET.Element urdf_root, dict controllers)

Detailed Description

@brief Validates that hardcoded geometry values in controllers.yaml match the URDF.

wheel_radius and wheel_separation cannot use xacro expressions in YAML,
so they must be kept in sync manually. These tests catch drift.

Function Documentation

_wheel_radius_from_urdf()

float test_controllers_config._wheel_radius_from_urdf ( ET.Element urdf_root )

protected

@brief Extract the wheel radius from the left_wheel link geometry in the URDF.

@param urdf_root Parsed root XML element of the expanded URDF.
@return Wheel radius in metres.

_wheel_separation_from_urdf()

float test_controllers_config._wheel_separation_from_urdf ( ET.Element urdf_root )

protected

Extract wheel separation from the left wheel joint's y-offset.

Each wheel is placed at ±(chassis_width/2 + wheel_length/2) from centre,
so separation = 2 * |y_offset|.

controllers()

dict test_controllers_config.controllers

(

Path

description_dir

)

@brief Load and return the diff_drive_controller configuration from YAML.

@param description_dir Path to the robot_description package root.
@return Parsed YAML configuration as a dictionary.

test_wheel_radius_matches_urdf()

None test_controllers_config.test_wheel_radius_matches_urdf	(	ET.Element	urdf_root,
		dict	controllers )

Wheel radius in controllers.yaml must match the URDF geometry.

test_wheel_separation_matches_urdf()

None test_controllers_config.test_wheel_separation_matches_urdf	(	ET.Element	urdf_root,
		dict	controllers )

Wheel separation in controllers.yaml must match URDF joint placement.