message: removed some comments from test
diff: @@ -58,9 +58,7 @@ TEST(FrankaHWTests, checkForConflictAndPrepareSwitchOk) {
  resources_set_cart.insert(arm_id + "_cartesian");
  resource_set_cart_other_arm.insert("franka2_cartesian");
  - // Test single claims on single arm
  - // /////////////////////////////////////////////////////////////////////////////////
  -
  + // Test single claims on single arm //////////////////////////////////////
  // Case no arm ID set -> should report conflict
  std::set<std::string> no_id_set;
  no_id_set.insert("joint1");
  @@ -124,9 +122,7 @@ TEST(FrankaHWTests, checkForConflictAndPrepareSwitchOk) {
  ASSERT_FALSE(robot.checkForConflict(info_list));
  ASSERT_TRUE(robot.prepareSwitch(info_list, empty_stop_list));
  - // Test dual claims on single arm
  - // ////////////////////////////////////////////////////////////////////////////////////
  -
  + // Test dual claims on single arm////////////////////////////////////////
  // Case joint torque and joint torque -> should report conflict
  resource1.hardware_interface = "hardware_interface::EffortJointInterface";
  resource1.resources = resources_set;
  @@ -251,9 +247,7 @@ TEST(FrankaHWTests, checkForConflictAndPrepareSwitchOk) {
  newInfo("controller1", "dummyControllerClass", resource1, resource2));
  ASSERT_TRUE(robot.checkForConflict(info_list));
  - // Test triple claim on single arm
  - // ////////////////////////////////////////////////////////
  -
  + // Test triple claim on single arm ////////////////////////////////////////
  // Case 3 command interfaces -> should report conflict
  resource1.hardware_interface = "franka_hw::FrankaVelocityCartesianInterface";
  resource1.resources = resources_set_cart;
  @@ -264,8 +258,7 @@ TEST(FrankaHWTests, checkForConflictAndPrepareSwitchOk) {
  info_list.push_back(info);
  ASSERT_TRUE(robot.checkForConflict(info_list));
  - // Test claims on two arms
  - // ////////////////////////////////////////////////////////////////////
  + // Test claims on two arms ///////////////////////////////////////////////
  // Case 2 arms cartesian pose -> should not report conflict
  resource1.hardware_interface = "franka_hw::FrankaPoseCartesianInterface";
  resource1.resources = resources_set_cart;
  @@ -313,7 +306,7 @@ TEST(FrankaHWTests, interfacesOk) {
  ASSERT_TRUE(fjs_interface != NULL);
  ASSERT_TRUE(fcs_interface != NULL);
  - // Test handle of franka_hw cartesian interfaces
  + // Test handles of franka_hw cartesian interfaces
  franka_hw::FrankaCartesianPoseHandle fpc_handle =
  fpc_interface->getHandle(arm_id + "_cartesian");
  std::array<double, 16> pose_command = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
  @@ -354,8 +347,6 @@ TEST(FrankaHWTests, jointLimitInterfacesOk) {
  ASSERT_TRUE(vj_interface != NULL);
  ASSERT_TRUE(ej_interface != NULL);
  - // parse joint limits from robot description
  -
  urdf::Model urdf_model;
  ASSERT_TRUE(urdf_model.initParamWithNodeHandle("robot_description", nh));
  std::vector<joint_limits_interface::JointLimits> joint_limits(7);
  