Push controller manager service tests pending fix

ros-controls · Oct 8, 2024 · 1b3af76 · 1b3af76
1 parent 0136b71
commit 1b3af76
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp
@@ -184,18 +184,19 @@ TEST_F(TestControllerManagerSrvs, list_controllers_srv)
     result->controller[0].claimed_interfaces,
     UnorderedElementsAre(
       "joint2/velocity", "joint3/velocity", "joint2/max_acceleration", "configuration/max_tcp_jerk",
-      "joint1/position", "joint1/max_velocity"));
+      "joint1/position", "joint1/max_velocity", "joint1/effort"));
   ASSERT_THAT(
     result->controller[0].required_command_interfaces,
     UnorderedElementsAre(
       "configuration/max_tcp_jerk", "joint1/max_velocity", "joint1/position",
-      "joint2/max_acceleration", "joint2/velocity", "joint3/velocity"));
+      "joint2/max_acceleration", "joint2/velocity", "joint3/velocity", "joint1/effort"));
   ASSERT_THAT(
     result->controller[0].required_state_interfaces,
     UnorderedElementsAre(
       "configuration/max_tcp_jerk", "joint1/position", "joint1/some_unlisted_interface",
       "joint1/velocity", "joint2/acceleration", "joint2/position", "joint2/velocity",
-      "joint3/acceleration", "joint3/position", "joint3/velocity", "sensor1/velocity"));
+      "joint3/acceleration", "joint3/position", "joint3/velocity", "sensor1/velocity",
+      "joint1/effort"));
 
   // Try again with higher timeout
   cm_->switch_controller(