[unittest] Used different topic names to avoid duplication

cmastalli · Dec 13, 2023 · d9c1a12 · d9c1a12
1 parent 9d9af37
commit d9c1a12
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/unittest/test_whole_body_state.py b/unittest/test_whole_body_state.py
@@ -138,9 +138,9 @@ def test_communication_with_reduced_model(self):
             model, [model.getJointId(name) for name in locked_joints], qref
         )
         sub = WholeBodyStateRosSubscriber(
-            model, locked_joints, qref, "whole_body_state"
+            model, locked_joints, qref, "reduced_whole_body_state"
         )
-        pub = WholeBodyStateRosPublisher(model, locked_joints, qref, "whole_body_state")
+        pub = WholeBodyStateRosPublisher(model, locked_joints, qref, "reduced_whole_body_state")
         time.sleep(1)
         # publish whole-body state messages
         q = pinocchio.randomConfiguration(model)
@@ -196,9 +196,9 @@ def test_communication_with_non_locked_joints(self):
             model, [model.getJointId(name) for name in locked_joints], qref
         )
         sub = WholeBodyStateRosSubscriber(
-            model, locked_joints, qref, "whole_body_state"
+            model, locked_joints, qref, "non_locked_whole_body_state"
         )
-        pub = WholeBodyStateRosPublisher(model, locked_joints, qref, "whole_body_state")
+        pub = WholeBodyStateRosPublisher(model, locked_joints, qref, "non_locked_whole_body_state")
         time.sleep(1)
         # publish whole-body state messages
         q = pinocchio.randomConfiguration(model)

diff --git a/unittest/test_whole_body_trajectory.py b/unittest/test_whole_body_trajectory.py
@@ -162,10 +162,10 @@ def test_communication_with_reduced_model(self):
             model, [model.getJointId(name) for name in locked_joints], qref
         )
         sub = WholeBodyTrajectoryRosSubscriber(
-            model, locked_joints, qref, "whole_body_trajectory"
+            model, locked_joints, qref, "reduced_whole_body_trajectory"
         )
         pub = WholeBodyTrajectoryRosPublisher(
-            model, locked_joints, qref, "whole_body_trajectory"
+            model, locked_joints, qref, "reduced_whole_body_trajectory"
         )
         time.sleep(1)
         # publish whole-body trajectory messages
@@ -235,10 +235,10 @@ def test_communication_with_non_locked_joints(self):
             model, [model.getJointId(name) for name in locked_joints], qref
         )
         sub = WholeBodyTrajectoryRosSubscriber(
-            model, locked_joints, qref, "whole_body_trajectory"
+            model, locked_joints, qref, "non_locked_whole_body_trajectory"
         )
         pub = WholeBodyTrajectoryRosPublisher(
-            model, locked_joints, qref, "whole_body_trajectory"
+            model, locked_joints, qref, "non_locked_whole_body_trajectory"
         )
         time.sleep(1)
         # publish whole-body trajectory messages