Fix the test_component_interface for missing valid node_clock_interface

hardware_interface/test/test_component_interfaces.cpp

@@ -31,6 +31,7 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
+#include "rclcpp/node.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 // Values to send over command interface to trigger error in write and read methods
@@ -424,8 +425,9 @@ TEST(TestComponentInterfaces, dummy_actuator)
   hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  rclcpp::Logger logger = rclcpp::get_logger("test_actuator_components");
-  auto state = actuator_hw.initialize(mock_hw_info, logger, nullptr);
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_actuator_components");
+  auto state =
+    actuator_hw.initialize(mock_hw_info, node->get_logger(), node->get_node_clock_interface());
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -515,8 +517,9 @@ TEST(TestComponentInterfaces, dummy_sensor)
   hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensor>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  rclcpp::Logger logger = rclcpp::get_logger("test_sensor_components");
-  auto state = sensor_hw.initialize(mock_hw_info, logger, nullptr);
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_sensor_components");
+  auto state =
+    sensor_hw.initialize(mock_hw_info, node->get_logger(), node->get_node_clock_interface());
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -547,8 +550,9 @@ TEST(TestComponentInterfaces, dummy_system)
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  rclcpp::Logger logger = rclcpp::get_logger("test_system_components");
-  auto state = system_hw.initialize(mock_hw_info, logger, nullptr);
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
+  auto state =
+    system_hw.initialize(mock_hw_info, node->get_logger(), node->get_node_clock_interface());
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -672,8 +676,9 @@ TEST(TestComponentInterfaces, dummy_command_mode_system)
   hardware_interface::System system_hw(
     std::make_unique<test_components::DummySystemPreparePerform>());
   hardware_interface::HardwareInfo mock_hw_info{};
-  rclcpp::Logger logger = rclcpp::get_logger("test_system_components");
-  auto state = system_hw.initialize(mock_hw_info, logger, nullptr);
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
+  auto state =
+    system_hw.initialize(mock_hw_info, node->get_logger(), node->get_node_clock_interface());
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -704,8 +709,9 @@ TEST(TestComponentInterfaces, dummy_actuator_read_error_behavior)
   hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  rclcpp::Logger logger = rclcpp::get_logger("test_actuator_components");
-  auto state = actuator_hw.initialize(mock_hw_info, logger, nullptr);
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_actuator_components");
+  auto state =
+    actuator_hw.initialize(mock_hw_info, node->get_logger(), node->get_node_clock_interface());
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -764,8 +770,9 @@ TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior)
   hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  rclcpp::Logger logger = rclcpp::get_logger("test_actuator_components");
-  auto state = actuator_hw.initialize(mock_hw_info, logger, nullptr);
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_actuator_components");
+  auto state =
+    actuator_hw.initialize(mock_hw_info, node->get_logger(), node->get_node_clock_interface());
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -824,8 +831,9 @@ TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior)
   hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensor>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  rclcpp::Logger logger = rclcpp::get_logger("test_sensor_components");
-  auto state = sensor_hw.initialize(mock_hw_info, logger, nullptr);
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_sensor_components");
+  auto state =
+    sensor_hw.initialize(mock_hw_info, node->get_logger(), node->get_node_clock_interface());
 
   auto state_interfaces = sensor_hw.export_state_interfaces();
   // Updated because is is INACTIVE
@@ -889,8 +897,9 @@ TEST(TestComponentInterfaces, dummy_system_read_error_behavior)
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  rclcpp::Logger logger = rclcpp::get_logger("test_system_components");
-  auto state = system_hw.initialize(mock_hw_info, logger, nullptr);
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
+  auto state =
+    system_hw.initialize(mock_hw_info, node->get_logger(), node->get_node_clock_interface());
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -954,8 +963,9 @@ TEST(TestComponentInterfaces, dummy_system_write_error_behavior)
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  rclcpp::Logger logger = rclcpp::get_logger("test_system_components");
-  auto state = system_hw.initialize(mock_hw_info, logger, nullptr);
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
+  auto state =
+    system_hw.initialize(mock_hw_info, node->get_logger(), node->get_node_clock_interface());
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -1013,3 +1023,10 @@ TEST(TestComponentInterfaces, dummy_system_write_error_behavior)
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label());
 }
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}