Rename parameter

Author: christophfroehlich

Diff for: control_toolbox/include/control_filters/gravity_compensation.hpp

@@ -53,9 +53,9 @@ class GravityCompensation : public filters::FilterBase<T>
 protected:
   void compute_internal_params()
   {
-    cog_.vector.x = parameters_.tool.pos[0];
-    cog_.vector.y = parameters_.tool.pos[1];
-    cog_.vector.z = parameters_.tool.pos[2];
+    cog_.vector.x = parameters_.tool.CoG[0];
+    cog_.vector.y = parameters_.tool.CoG[1];
+    cog_.vector.z = parameters_.tool.CoG[2];
     cst_ext_force_.vector.x = parameters_.tool.gravity_field[0]*parameters_.tool.mass;
     cst_ext_force_.vector.y = parameters_.tool.gravity_field[1]*parameters_.tool.mass;
     cst_ext_force_.vector.z = parameters_.tool.gravity_field[2]*parameters_.tool.mass;

Diff for: control_toolbox/src/control_filters/gravity_compensation_filter_parameters.yaml

@@ -16,7 +16,7 @@ gravity_compensation_filter:
     },
   }
   tool:
-    pos: {
+    CoG: {
       type: double_array,
       description: "Position of the CoG of tool attached to the FT sensor in the sensor frame.",
       validation: {

Diff for: control_toolbox/test/control_filters/test_gravity_compensation.cpp

@@ -47,13 +47,13 @@ TEST_F(GravityCompensationTest, TestGravityCompensationInvalidThenFixedParameter
     node_->get_node_logging_interface(), node_->get_node_parameters_interface()), std::exception);
 
   // fixed wrong vector size
-  node_->set_parameter(rclcpp::Parameter("tool.pos", std::vector<double>({0.0, 0.0, 0.0})));
+  node_->set_parameter(rclcpp::Parameter("tool.CoG", std::vector<double>({0.0, 0.0, 0.0})));
   // all parameters correctly set AND second call to yet unconfigured filter
   ASSERT_TRUE(filter_->configure("", "TestGravityCompensation",
     node_->get_node_logging_interface(), node_->get_node_parameters_interface()));
 
   // change a parameter
-  node_->set_parameter(rclcpp::Parameter("tool.pos", std::vector<double>({0.0, 0.0, 0.2})));
+  node_->set_parameter(rclcpp::Parameter("tool.CoG", std::vector<double>({0.0, 0.0, 0.2})));
   // accept second call to configure with valid parameters to already configured filter
   ASSERT_TRUE(filter_->configure("", "TestGravityCompensation",
     node_->get_node_logging_interface(), node_->get_node_parameters_interface()));

Diff for: control_toolbox/test/control_filters/test_gravity_compensation_parameters.yaml

@@ -5,7 +5,7 @@ TestGravityCompensationAllParameters:
     tool:
       gravity_field: [0.0, 0.0, -9.81]
       mass: 5.0
-      pos: [0.0, 0.0, 0.0]
+      CoG: [0.0, 0.0, 0.0]
 
 TestGravityCompensationMissingParameters:
   ros__parameters:
@@ -18,7 +18,7 @@ TestGravityCompensationInvalidThenFixedParameter:
     tool:
       gravity_field: [0.0, 0.0, -9.81]
       mass: 5.0
-      pos: [0.0, 0.0]
+      CoG: [0.0, 0.0]
 
 TestGravityCompensationMissingTransform:
   ros__parameters:
@@ -27,7 +27,7 @@ TestGravityCompensationMissingTransform:
     tool:
       gravity_field: [0.0, 0.0, -9.81]
       mass: 5.0
-      pos: [0.0, 0.0, 0.0]
+      CoG: [0.0, 0.0, 0.0]
 
 TestGravityCompensationComputation:
   ros__parameters:
@@ -36,4 +36,4 @@ TestGravityCompensationComputation:
     tool:
       gravity_field: [0.0, 0.0, -9.81]
       mass: 5.0
-      pos: [0.0, 0.0, 0.0]
+      CoG: [0.0, 0.0, 0.0]