Update mira tests

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
grupo-avispa · Apr 8, 2024 · 1de3a01 · 1de3a01
1 parent 395c08d
commit 1de3a01
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Showing 2 changed files with 22 additions and 4 deletions.
diff --git a/scitos2_mira/src/mira_framework.cpp b/scitos2_mira/src/mira_framework.cpp
@@ -83,6 +83,16 @@ nav2_util::CallbackReturn MiraFramework::on_configure(const rclcpp_lifecycle::St
     rcl_interfaces::msg::ParameterDescriptor()
     .set__description("List of the modules exposed by the node"));
   this->get_parameter("module_plugins", module_ids_);
+
+  // Print the list of modules
+  for (size_t i = 0; i != module_ids_.size(); ++i) {
+    RCLCPP_INFO(get_logger(), "Module: %s", module_ids_[i].c_str());
+  }
+
+  for (size_t i = 0; i != default_ids_.size(); ++i) {
+    RCLCPP_INFO(get_logger(), "Default module: %s", default_ids_[i].c_str());
+  }
+
   if (module_ids_ == default_ids_) {
     for (size_t i = 0; i != default_ids_.size(); ++i) {
       nav2_util::declare_parameter_if_not_declared(

diff --git a/scitos2_mira/test/test_mira_framework.cpp b/scitos2_mira/test/test_mira_framework.cpp
@@ -21,6 +21,14 @@
 #include "scitos2_mira/mira_framework.hpp"
 #include "scitos2_core/module.hpp"
 
+class MiraFrameworkFixture : public scitos2_mira::MiraFramework
+{
+public:
+  MiraFrameworkFixture()
+  : scitos2_mira::MiraFramework(rclcpp::NodeOptions())
+  {}
+};
+
 class DummyModule : public scitos2_core::Module
 {
 public:
@@ -50,7 +58,7 @@ template<>
 pluginlib::UniquePtr<scitos2_core::Module> pluginlib::ClassLoader<scitos2_core::Module>::
 createUniqueInstance(const std::string & lookup_name)
 {
-  if (lookup_name != "DummyModule") {
+  if (lookup_name != "drive") {
     // original method body
     if (!isClassLoaded(lookup_name)) {
       loadLibraryForClass(lookup_name);
@@ -73,7 +81,7 @@ createUniqueInstance(const std::string & lookup_name)
 
 TEST(ScitosMiraFrameworkTest, configure) {
   // Create the node
-  auto node = std::make_shared<scitos2_mira::MiraFramework>();
+  auto node = std::make_shared<MiraFrameworkFixture>();
 
   // Set an empty scitos config parameter
   nav2_util::declare_parameter_if_not_declared(node, "scitos_config", rclcpp::ParameterValue(""));
@@ -92,9 +100,9 @@ TEST(ScitosMiraFrameworkTest, configure) {
       "scitos_config", rclcpp::ParameterValue(std::string(pkg + "/test/scitos_config.xml"))));
   nav2_util::declare_parameter_if_not_declared(
     node, "module_plugins",
-    rclcpp::ParameterValue(std::vector<std::string>(1, "DummyModule")));
+    rclcpp::ParameterValue(std::vector<std::string>(1, "drive")));
   nav2_util::declare_parameter_if_not_declared(
-    node, "DummyModule.plugin", rclcpp::ParameterValue("DummyModule"));
+    node, "drive.plugin", rclcpp::ParameterValue("drive"));
 
   // Configure the node
   node->configure();