update unit test

moveit · Jul 26, 2023 · 389796b · 389796b
1 parent a3d4ca3
commit 389796b
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/doc/tutorials/quickstart_in_rviz/test/bringup_test.cpp b/doc/tutorials/quickstart_in_rviz/test/bringup_test.cpp
@@ -50,15 +50,15 @@ TEST_F(BringupTestFixture, BasicBringupTest)
 {
   // Check for several expected action servers
   auto control_client = rclcpp_action::create_client<control_msgs::action::FollowJointTrajectory>(
-      node_, "/panda_arm_controller/follow_joint_trajectory");
+      node_, "/joint_trajectory_controller/follow_joint_trajectory");
   EXPECT_TRUE(control_client->wait_for_action_server());
   auto move_group_client = rclcpp_action::create_client<moveit_msgs::action::MoveGroup>(node_, "/move_action");
   EXPECT_TRUE(move_group_client->wait_for_action_server());
 
   // Send a trajectory request
   trajectory_msgs::msg::JointTrajectory traj_msg;
-  traj_msg.joint_names = { "panda_joint1", "panda_joint2", "panda_joint3", "panda_joint4",
-                           "panda_joint5", "panda_joint6", "panda_joint7" };
+  traj_msg.joint_names = { "joint_1", "joint_2", "joint_3", "joint_4",
+                           "joint_5", "joint_6", "joint_7" };
   trajectory_msgs::msg::JointTrajectoryPoint point_msg;
   point_msg.positions = { 0, -0.785, 0, -2.356, 0, 1.571, 0.785 };
   point_msg.time_from_start.sec = 1;