actuators: use generic field names (#11)

companion to ign-msgs pr# 129

Author: scpeters

src/convert_builtin_interfaces.cpp

@@ -292,9 +292,9 @@ convert_1_to_ign(
   convert_1_to_ign(ros1_msg.header, (*ign_msg.mutable_header()));
 
   for (auto i = 0u; i < ros1_msg.angles.size(); ++i)
-    ign_msg.add_angle(ros1_msg.angles[i]);
+    ign_msg.add_position(ros1_msg.angles[i]);
   for (auto i = 0u; i < ros1_msg.angular_velocities.size(); ++i)
-    ign_msg.add_angular_velocity(ros1_msg.angular_velocities[i]);
+    ign_msg.add_velocity(ros1_msg.angular_velocities[i]);
   for (auto i = 0u; i < ros1_msg.normalized.size(); ++i)
     ign_msg.add_normalized(ros1_msg.normalized[i]);
 }
@@ -307,10 +307,10 @@ convert_ign_to_1(
 {
   convert_ign_to_1(ign_msg.header(), ros1_msg.header);
 
-  for (auto i = 0; i < ign_msg.angle_size(); ++i)
-    ros1_msg.angles.push_back(ign_msg.angle(i));
-  for (auto i = 0; i < ign_msg.angular_velocity_size(); ++i)
-    ros1_msg.angular_velocities.push_back(ign_msg.angular_velocity(i));
+  for (auto i = 0; i < ign_msg.position_size(); ++i)
+    ros1_msg.angles.push_back(ign_msg.position(i));
+  for (auto i = 0; i < ign_msg.velocity_size(); ++i)
+    ros1_msg.angular_velocities.push_back(ign_msg.velocity(i));
   for (auto i = 0; i < ign_msg.normalized_size(); ++i)
     ros1_msg.normalized.push_back(ign_msg.normalized(i));
 }

test/test_utils.h

@@ -922,8 +922,8 @@ namespace testing
 
     for (int i = 0u; i < 5; ++i)
     {
-      _msg.add_angle(i);
-      _msg.add_angular_velocity(i);
+      _msg.add_position(i);
+      _msg.add_velocity(i);
       _msg.add_normalized(i);
     }
   }
@@ -937,10 +937,10 @@ namespace testing
 
     compareTestMsg(_msg.header());
 
-    for (int i = 0; i < expected_msg.angle_size(); ++i)
+    for (int i = 0; i < expected_msg.position_size(); ++i)
     {
-      EXPECT_EQ(expected_msg.angle(i), _msg.angle(i));
-      EXPECT_EQ(expected_msg.angular_velocity(i), _msg.angular_velocity(i));
+      EXPECT_EQ(expected_msg.position(i), _msg.position(i));
+      EXPECT_EQ(expected_msg.velocity(i), _msg.velocity(i));
       EXPECT_EQ(expected_msg.normalized(i), _msg.normalized(i));
     }
   }