From d511c59f1a2925481ef15c7ebb037d48e832cb5a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Dr=2E=20Denis=20=C5=A0togl?= <denis@stoglrobotics.de>
Date: Tue, 16 Jan 2024 15:59:17 +0100
Subject: [PATCH] Make tests to use hardware descritpion in tests to be able to
 activate controllers.

---
 controller_manager/test/controller_manager_test_common.hpp  | 6 +++++-
 .../test_controllers_chaining_with_controller_manager.cpp   | 6 ++++++
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/controller_manager/test/controller_manager_test_common.hpp b/controller_manager/test/controller_manager_test_common.hpp
index 78b3c3250e..cb90fe8dbd 100644
--- a/controller_manager/test/controller_manager_test_common.hpp
+++ b/controller_manager/test/controller_manager_test_common.hpp
@@ -164,7 +164,11 @@ class TestControllerManagerSrvs
 : public ControllerManagerFixture<controller_manager::ControllerManager>
 {
 public:
-  TestControllerManagerSrvs() {}
+  TestControllerManagerSrvs()
+  : ControllerManagerFixture<controller_manager::ControllerManager>(
+      ros2_control_test_assets::minimal_robot_urdf, true)
+  {
+  }
 
   void SetUp() override
   {
diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
index 31d2cadcf7..de7d9e760a 100644
--- a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
+++ b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
@@ -87,6 +87,12 @@ class TestControllerChainingWithControllerManager
   public testing::WithParamInterface<Strictness>
 {
 public:
+  TestControllerChainingWithControllerManager()
+  : ControllerManagerFixture<TestableControllerManager>(
+      ros2_control_test_assets::minimal_robot_urdf, true)
+  {
+  }
+
   void SetUp()
   {
     executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();