Fix API in tests

ros-controls · Oct 31, 2024 · 3bf0c20 · 3bf0c20
1 parent f5c4bff
commit 3bf0c20
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/pose_broadcaster/test/test_load_pose_broadcaster.cpp b/pose_broadcaster/test/test_load_pose_broadcaster.cpp
@@ -26,8 +26,10 @@ TEST(TestLoadPoseBroadcaster, load_controller)
   std::shared_ptr<rclcpp::Executor> executor =
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
-  controller_manager::ControllerManager cm{
-    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"};
+  controller_manager::ControllerManager cm(
+    std::make_unique<hardware_interface::ResourceManager>(
+      ros2_control_test_assets::minimal_robot_urdf),
+    executor, "test_controller_manager");
 
   const std::string test_file_path =
     std::string{TEST_FILES_DIRECTORY} + "/pose_broadcaster_params.yaml";

diff --git a/pose_broadcaster/test/test_pose_broadcaster.cpp b/pose_broadcaster/test/test_pose_broadcaster.cpp
@@ -25,9 +25,7 @@ void PoseBroadcasterTest::TearDown() { pose_broadcaster_.reset(nullptr); }
 void PoseBroadcasterTest::SetUpPoseBroadcaster()
 {
   ASSERT_EQ(
-    pose_broadcaster_->init(
-      "test_pose_broadcaster", "", 0, "", pose_broadcaster_->define_custom_node_options()),
-    controller_interface::return_type::OK);
+    pose_broadcaster_->init("test_pose_broadcaster"), controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_interfaces;
   state_interfaces.emplace_back(pose_position_x_);