Merge branch 'humble' into mergify/bp/humble/pr-1451

ros-controls · Aug 14, 2024 · e3bc0de · e3bc0de
2 parents 85fed6b + 8a3ac66
commit e3bc0de
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Showing 5 changed files with 7 additions and 9 deletions.
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Humble - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble

diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Rolling - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -36,7 +36,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.16.0
+    rev: v3.17.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -132,7 +132,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.29.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/transmission_interface/include/transmission_interface/four_bar_linkage_transmission.hpp b/transmission_interface/include/transmission_interface/four_bar_linkage_transmission.hpp
@@ -288,7 +288,7 @@ inline void FourBarLinkageTransmission::actuator_to_joint()
 
     joint_eff[0].set_value(jr[0] * act_eff[0].get_value() * ar[0]);
     joint_eff[1].set_value(
-      jr[1] * (act_eff[1].get_value() * ar[1] - act_eff[0].get_value() * ar[0] * jr[0]));
+      jr[1] * (act_eff[1].get_value() * ar[1] - jr[0] * act_eff[0].get_value() * ar[0]));
   }
 }
 

diff --git a/transmission_interface/test/random_generator_utils.hpp b/transmission_interface/test/random_generator_utils.hpp
@@ -26,12 +26,14 @@ using std::vector;
 /// \brief Generator of pseudo-random double in the range [min_val, max_val].
 // NOTE: Based on example code available at:
 // http://stackoverflow.com/questions/2860673/initializing-a-c-vector-to-random-values-fast
+// Use a user specified seed instead of system time for deterministic tests
 struct RandomDoubleGenerator
 {
 public:
-  RandomDoubleGenerator(double min_val, double max_val) : min_val_(min_val), max_val_(max_val)
+  RandomDoubleGenerator(double min_val, double max_val, unsigned int seed = 1234)
+  : min_val_(min_val), max_val_(max_val)
   {
-    srand(time(nullptr));
+    srand(seed);
   }
   double operator()()
   {