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Set enable_feedforward parameter in the respective tests (#1743)
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pid_controller/test/test_pid_controller.cpp

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@@ -346,6 +346,7 @@ TEST_F(PidControllerTest, test_update_logic_feedforward_on_with_zero_feedforward
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controller_->set_reference(dof_command_values_);
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controller_->get_node()->set_parameter(rclcpp::Parameter("enable_feedforward", true));
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controller_->feedforward_mode_enabled_.writeFromNonRT(true);
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EXPECT_EQ(*(controller_->feedforward_mode_enabled_.readFromRT()), true);
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@@ -586,6 +587,7 @@ TEST_F(PidControllerTest, test_update_chained_feedforward_with_gain)
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const double expected_command_value = 6.95;
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SetUpController("test_pid_controller_with_feedforward_gain");
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controller_->get_node()->set_parameter(rclcpp::Parameter("enable_feedforward", true));
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ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
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// check on interfaces & pid gain parameters

pid_controller/test/test_pid_controller_dual_interface.cpp

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@@ -56,6 +56,7 @@ class PidControllerDualInterfaceTest : public PidControllerFixture<TestablePidCo
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TEST_F(PidControllerDualInterfaceTest, test_chained_feedforward_with_gain_dual_interface)
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{
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SetUpController("test_pid_controller_with_feedforward_gain_dual_interface");
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controller_->get_node()->set_parameter(rclcpp::Parameter("enable_feedforward", true));
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ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
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// check on interfaces & pid gain parameters

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