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Resolve conflicts
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@destogl
destogl authored Jan 30, 2024
1 parent 0f2cd06 commit f4f82a4
Showing 1 changed file with 1 addition and 62 deletions.
63 changes: 1 addition & 62 deletions tricycle_controller/test/test_tricycle_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -195,43 +195,21 @@ class TestTricycleController : public ::testing::Test

TEST_F(TestTricycleController, init_fails_without_parameters)
{
<<<<<<< HEAD
const auto ret = controller_->init(controller_name);
ASSERT_EQ(ret, controller_interface::return_type::OK);
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
=======
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::ERROR);
>>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957))
}

TEST_F(TestTricycleController, init_fails_if_only_traction_or_steering_side_defined)
{
<<<<<<< HEAD
const auto ret = controller_->init(controller_name);
ASSERT_EQ(ret, controller_interface::return_type::OK);
=======
ASSERT_EQ(
InitController(traction_joint_name, std::string()), controller_interface::return_type::ERROR);
>>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957))

InitController(traction_joint_name, std::string()), controller_interface::return_type::ERROR)
ASSERT_EQ(
InitController(std::string(), steering_joint_name), controller_interface::return_type::ERROR);
}

TEST_F(TestTricycleController, configure_succeeds_when_joints_are_specified)
{
<<<<<<< HEAD
const auto ret = controller_->init(controller_name);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
rclcpp::Parameter("traction_joint_name", rclcpp::ParameterValue(traction_joint_name)));
controller_->get_node()->set_parameter(
rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name)));
=======
ASSERT_EQ(InitController(), controller_interface::return_type::OK);
>>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957))

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

Expand All @@ -254,30 +232,15 @@ TEST_F(TestTricycleController, configure_succeeds_when_joints_are_specified)

TEST_F(TestTricycleController, activate_fails_without_resources_assigned)
{
<<<<<<< HEAD
const auto ret = controller_->init(controller_name);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
rclcpp::Parameter("traction_joint_name", rclcpp::ParameterValue(traction_joint_name)));
controller_->get_node()->set_parameter(
rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name)));
=======
ASSERT_EQ(InitController(), controller_interface::return_type::OK);
>>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957))

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
}

TEST_F(TestTricycleController, activate_succeeds_with_resources_assigned)
{
<<<<<<< HEAD
const auto ret = controller_->init(controller_name);
ASSERT_EQ(ret, controller_interface::return_type::OK);
=======
ASSERT_EQ(InitController(), controller_interface::return_type::OK);
>>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957))

// We implicitly test that by default position feedback is required
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
Expand All @@ -287,23 +250,11 @@ TEST_F(TestTricycleController, activate_succeeds_with_resources_assigned)

TEST_F(TestTricycleController, cleanup)
{
<<<<<<< HEAD
const auto ret = controller_->init(controller_name);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
rclcpp::Parameter("traction_joint_name", rclcpp::ParameterValue(traction_joint_name)));
controller_->get_node()->set_parameter(
rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name)));
controller_->get_node()->set_parameter(rclcpp::Parameter("wheelbase", 1.2));
controller_->get_node()->set_parameter(rclcpp::Parameter("wheel_radius", 0.12));
=======
ASSERT_EQ(
InitController(
traction_joint_name, steering_joint_name,
{rclcpp::Parameter("wheelbase", 1.2), rclcpp::Parameter("wheel_radius", 0.12)}),
controller_interface::return_type::OK);
>>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957))

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(controller_->get_node()->get_node_base_interface());
Expand Down Expand Up @@ -344,23 +295,11 @@ TEST_F(TestTricycleController, cleanup)

TEST_F(TestTricycleController, correct_initialization_using_parameters)
{
<<<<<<< HEAD
const auto ret = controller_->init(controller_name);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
rclcpp::Parameter("traction_joint_name", rclcpp::ParameterValue(traction_joint_name)));
controller_->get_node()->set_parameter(
rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name)));
controller_->get_node()->set_parameter(rclcpp::Parameter("wheelbase", 0.4));
controller_->get_node()->set_parameter(rclcpp::Parameter("wheel_radius", 1.0));
=======
ASSERT_EQ(
InitController(
traction_joint_name, steering_joint_name,
{rclcpp::Parameter("wheelbase", 0.4), rclcpp::Parameter("wheel_radius", 1.0)}),
controller_interface::return_type::OK);
>>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957))

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(controller_->get_node()->get_node_base_interface());
Expand Down

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