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Fixes tests to work with use_global_arguments NodeOptions parameter #1256

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merged 10 commits into from
Aug 22, 2024
Merged

Fixes tests to work with use_global_arguments NodeOptions parameter #1256

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e5cedf9
fix the test_load_force_torque_sensor_broadcaster test
saikishor Aug 20, 2024
cea1e58
fixing diff_drive load controller test
saikishor Aug 20, 2024
7eb8fd9
fix load imu sensor broadcaster test
saikishor Aug 20, 2024
8231cbf
fix tricycle controller load test
saikishor Aug 20, 2024
72c274b
Fix bicycle load controller
saikishor Aug 20, 2024
7b8ad2c
Fix controller tests of parallel gripper action controller
saikishor Aug 20, 2024
017e97e
Fix tricycle steering controller load
saikishor Aug 20, 2024
b092fc7
Fix ackerman steering load controller
saikishor Aug 20, 2024
8ba07a2
apply the fix to the admittance controller
saikishor Aug 20, 2024
e4de843
apply the fix to the range sensor broadcaster
saikishor Aug 20, 2024
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6 changes: 2 additions & 4 deletions ackermann_steering_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -58,10 +58,8 @@ if(BUILD_TESTING)
find_package(ros2_control_test_assets REQUIRED)


add_rostest_with_parameters_gmock(test_load_ackermann_steering_controller
test/test_load_ackermann_steering_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_params.yaml
)
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_ackermann_steering_controller test/test_load_ackermann_steering_controller.cpp)
ament_target_dependencies(test_load_ackermann_steering_controller
controller_manager
hardware_interface
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13 changes: 8 additions & 5 deletions ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp
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Expand Up @@ -29,12 +29,15 @@ TEST(TestLoadAckermannSteeringController, load_controller)

controller_manager::ControllerManager cm(
executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
const std::string test_file_path =
std::string(TEST_FILES_DIRECTORY) + "/ackermann_steering_controller_params.yaml";

ASSERT_NE(
cm.load_controller(
"test_ackermann_steering_controller",
"ackermann_steering_controller/AckermannSteeringController"),
nullptr);
cm.set_parameter({"test_ackermann_steering_controller.params_file", test_file_path});
cm.set_parameter(
{"test_ackermann_steering_controller.type",
"ackermann_steering_controller/AckermannSteeringController"});

ASSERT_NE(cm.load_controller("test_ackermann_steering_controller"), nullptr);
}

int main(int argc, char ** argv)
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6 changes: 2 additions & 4 deletions admittance_controller/CMakeLists.txt
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Expand Up @@ -68,10 +68,8 @@ if(BUILD_TESTING)
find_package(kinematics_interface_kdl REQUIRED)

# test loading admittance controller
add_rostest_with_parameters_gmock(test_load_admittance_controller
test/test_load_admittance_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/test_params.yaml
)
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_admittance_controller test/test_load_admittance_controller.cpp)
ament_target_dependencies(test_load_admittance_controller
controller_manager
hardware_interface
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9 changes: 6 additions & 3 deletions admittance_controller/test/test_load_admittance_controller.cpp
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Expand Up @@ -30,10 +30,13 @@ TEST(TestLoadAdmittanceController, load_controller)

controller_manager::ControllerManager cm(
executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
const std::string test_file_path = std::string(TEST_FILES_DIRECTORY) + "/test_params.yaml";

ASSERT_EQ(
cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"),
nullptr);
cm.set_parameter({"load_admittance_controller.params_file", test_file_path});
cm.set_parameter(
{"load_admittance_controller.type", "admittance_controller/AdmittanceController"});

ASSERT_EQ(cm.load_controller("load_admittance_controller"), nullptr);
}

int main(int argc, char ** argv)
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6 changes: 2 additions & 4 deletions bicycle_steering_controller/CMakeLists.txt
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Expand Up @@ -57,10 +57,8 @@ if(BUILD_TESTING)
find_package(hardware_interface REQUIRED)
find_package(ros2_control_test_assets REQUIRED)

add_rostest_with_parameters_gmock(test_load_bicycle_steering_controller
test/test_load_bicycle_steering_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_params.yaml
)
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_bicycle_steering_controller test/test_load_bicycle_steering_controller.cpp)
ament_target_dependencies(test_load_bicycle_steering_controller
controller_manager
hardware_interface
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12 changes: 8 additions & 4 deletions bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,11 +29,15 @@ TEST(TestLoadBicycleSteeringController, load_controller)

controller_manager::ControllerManager cm(
executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
const std::string test_file_path =
std::string(TEST_FILES_DIRECTORY) + "/bicycle_steering_controller_params.yaml";

ASSERT_NE(
cm.load_controller(
"test_bicycle_steering_controller", "bicycle_steering_controller/BicycleSteeringController"),
nullptr);
cm.set_parameter({"test_bicycle_steering_controller.params_file", test_file_path});
cm.set_parameter(
{"test_bicycle_steering_controller.type",
"bicycle_steering_controller/BicycleSteeringController"});

ASSERT_NE(cm.load_controller("test_bicycle_steering_controller"), nullptr);
}

int main(int argc, char ** argv)
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6 changes: 2 additions & 4 deletions diff_drive_controller/CMakeLists.txt
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Expand Up @@ -70,10 +70,8 @@ if(BUILD_TESTING)
tf2_msgs
)

add_rostest_with_parameters_gmock(test_load_diff_drive_controller
test/test_load_diff_drive_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_diff_drive_controller.yaml
)
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_diff_drive_controller test/test_load_diff_drive_controller.cpp)
ament_target_dependencies(test_load_diff_drive_controller
controller_manager
ros2_control_test_assets
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10 changes: 7 additions & 3 deletions diff_drive_controller/test/test_load_diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,10 +29,14 @@ TEST(TestLoadDiffDriveController, load_controller)

controller_manager::ControllerManager cm(
executor, ros2_control_test_assets::diffbot_urdf, true, "test_controller_manager");
const std::string test_file_path =
std::string(TEST_FILES_DIRECTORY) + "/config/test_diff_drive_controller.yaml";

ASSERT_NE(
cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"),
nullptr);
cm.set_parameter({"test_diff_drive_controller.params_file", test_file_path});
cm.set_parameter(
{"test_diff_drive_controller.type", "diff_drive_controller/DiffDriveController"});

ASSERT_NE(cm.load_controller("test_diff_drive_controller"), nullptr);
}

int main(int argc, char ** argv)
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5 changes: 2 additions & 3 deletions force_torque_sensor_broadcaster/CMakeLists.txt
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Expand Up @@ -53,9 +53,8 @@ if(BUILD_TESTING)
find_package(hardware_interface REQUIRED)
find_package(ros2_control_test_assets REQUIRED)

add_rostest_with_parameters_gmock(test_load_force_torque_sensor_broadcaster
test/test_load_force_torque_sensor_broadcaster.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/force_torque_sensor_broadcaster_params.yaml)
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_force_torque_sensor_broadcaster test/test_load_force_torque_sensor_broadcaster.cpp)
target_include_directories(test_load_force_torque_sensor_broadcaster PRIVATE include)
target_link_libraries(test_load_force_torque_sensor_broadcaster
force_torque_sensor_broadcaster
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14 changes: 9 additions & 5 deletions force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,11 +34,15 @@ TEST(TestLoadForceTorqueSensorBroadcaster, load_controller)
controller_manager::ControllerManager cm(
executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
"test_force_torque_sensor_broadcaster",
"force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster"),
nullptr);
const std::string test_file_path =
std::string(TEST_FILES_DIRECTORY) + "/force_torque_sensor_broadcaster_params.yaml";

cm.set_parameter({"test_force_torque_sensor_broadcaster.params_file", test_file_path});
cm.set_parameter(
{"test_force_torque_sensor_broadcaster.type",
"force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster"});

ASSERT_NE(cm.load_controller("test_force_torque_sensor_broadcaster"), nullptr);
}

int main(int argc, char ** argv)
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5 changes: 2 additions & 3 deletions imu_sensor_broadcaster/CMakeLists.txt
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Expand Up @@ -53,9 +53,8 @@ if(BUILD_TESTING)
find_package(hardware_interface REQUIRED)
find_package(ros2_control_test_assets REQUIRED)

add_rostest_with_parameters_gmock(test_load_imu_sensor_broadcaster
test/test_load_imu_sensor_broadcaster.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/imu_sensor_broadcaster_params.yaml)
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_imu_sensor_broadcaster test/test_load_imu_sensor_broadcaster.cpp)
target_include_directories(test_load_imu_sensor_broadcaster PRIVATE include)
target_link_libraries(test_load_imu_sensor_broadcaster
imu_sensor_broadcaster
Expand Down
11 changes: 7 additions & 4 deletions imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp
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Expand Up @@ -33,11 +33,14 @@ TEST(TestLoadIMUSensorBroadcaster, load_controller)

controller_manager::ControllerManager cm(
executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
const std::string test_file_path =
std::string(TEST_FILES_DIRECTORY) + "/imu_sensor_broadcaster_params.yaml";

ASSERT_NE(
cm.load_controller(
"test_imu_sensor_broadcaster", "imu_sensor_broadcaster/IMUSensorBroadcaster"),
nullptr);
cm.set_parameter({"test_imu_sensor_broadcaster.params_file", test_file_path});
cm.set_parameter(
{"test_imu_sensor_broadcaster.type", "imu_sensor_broadcaster/IMUSensorBroadcaster"});

ASSERT_NE(cm.load_controller("test_imu_sensor_broadcaster"), nullptr);
}

int main(int argc, char ** argv)
Expand Down
5 changes: 2 additions & 3 deletions parallel_gripper_controller/CMakeLists.txt
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Expand Up @@ -48,9 +48,8 @@ if(BUILD_TESTING)
find_package(controller_manager REQUIRED)
find_package(ros2_control_test_assets REQUIRED)

add_rostest_with_parameters_gmock(test_load_parallel_gripper_action_controllers
test/test_load_parallel_gripper_action_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/gripper_action_controller_params.yaml)
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_parallel_gripper_action_controllers test/test_load_parallel_gripper_action_controller.cpp)
target_include_directories(test_load_parallel_gripper_action_controllers PRIVATE include)
ament_target_dependencies(test_load_parallel_gripper_action_controllers
controller_manager
Expand Down
13 changes: 8 additions & 5 deletions parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp
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Expand Up @@ -27,12 +27,15 @@ TEST(TestLoadGripperActionControllers, load_controller)

controller_manager::ControllerManager cm(
executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
const std::string test_file_path =
std::string(TEST_FILES_DIRECTORY) + "/gripper_action_controller_params.yaml";

ASSERT_NE(
cm.load_controller(
"test_gripper_action_position_controller",
"parallel_gripper_action_controller/GripperActionController"),
nullptr);
cm.set_parameter({"test_gripper_action_position_controller.params_file", test_file_path});
cm.set_parameter(
{"test_gripper_action_position_controller.type",
"parallel_gripper_action_controller/GripperActionController"});

ASSERT_NE(cm.load_controller("test_gripper_action_position_controller"), nullptr);
}

int main(int argc, char ** argv)
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5 changes: 2 additions & 3 deletions range_sensor_broadcaster/CMakeLists.txt
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Expand Up @@ -59,9 +59,8 @@ if(BUILD_TESTING)
find_package(hardware_interface REQUIRED)
find_package(ros2_control_test_assets REQUIRED)

add_rostest_with_parameters_gmock(test_load_range_sensor_broadcaster
test/test_load_range_sensor_broadcaster.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/range_sensor_broadcaster_params.yaml)
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_range_sensor_broadcaster test/test_load_range_sensor_broadcaster.cpp)
target_include_directories(test_load_range_sensor_broadcaster PRIVATE include)
target_link_libraries(test_load_range_sensor_broadcaster
range_sensor_broadcaster
Expand Down
11 changes: 7 additions & 4 deletions range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp
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Expand Up @@ -33,11 +33,14 @@ TEST(TestLoadRangeSensorBroadcaster, load_controller)

controller_manager::ControllerManager cm(
executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
const std::string test_file_path =
std::string(TEST_FILES_DIRECTORY) + "/range_sensor_broadcaster_params.yaml";

ASSERT_NE(
cm.load_controller(
"test_range_sensor_broadcaster", "range_sensor_broadcaster/RangeSensorBroadcaster"),
nullptr);
cm.set_parameter({"test_range_sensor_broadcaster.params_file", test_file_path});
cm.set_parameter(
{"test_range_sensor_broadcaster.type", "range_sensor_broadcaster/RangeSensorBroadcaster"});

ASSERT_NE(cm.load_controller("test_range_sensor_broadcaster"), nullptr);
}

int main(int argc, char ** argv)
Expand Down
6 changes: 2 additions & 4 deletions tricycle_controller/CMakeLists.txt
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Expand Up @@ -76,10 +76,8 @@ if(BUILD_TESTING)
tf2_msgs
)

add_rostest_with_parameters_gmock(test_load_tricycle_controller
test/test_load_tricycle_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_tricycle_controller.yaml
)
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_tricycle_controller test/test_load_tricycle_controller.cpp)
target_link_libraries(test_load_tricycle_controller
tricycle_controller
)
Expand Down
9 changes: 6 additions & 3 deletions tricycle_controller/test/test_load_tricycle_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,10 +33,13 @@ TEST(TestLoadTricycleController, load_controller)

controller_manager::ControllerManager cm(
executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
const std::string test_file_path =
std::string(TEST_FILES_DIRECTORY) + "/config/test_tricycle_controller.yaml";

ASSERT_NE(
cm.load_controller("test_tricycle_controller", "tricycle_controller/TricycleController"),
nullptr);
cm.set_parameter({"test_tricycle_controller.params_file", test_file_path});
cm.set_parameter({"test_tricycle_controller.type", "tricycle_controller/TricycleController"});

ASSERT_NE(cm.load_controller("test_tricycle_controller"), nullptr);
}

int main(int argc, char ** argv)
Expand Down
6 changes: 2 additions & 4 deletions tricycle_steering_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -57,10 +57,8 @@ if(BUILD_TESTING)
find_package(hardware_interface REQUIRED)
find_package(ros2_control_test_assets REQUIRED)

add_rostest_with_parameters_gmock(test_load_tricycle_steering_controller
test/test_load_tricycle_steering_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/tricycle_steering_controller_params.yaml
)
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_tricycle_steering_controller test/test_load_tricycle_steering_controller.cpp)
ament_target_dependencies(test_load_tricycle_steering_controller
controller_manager
hardware_interface
Expand Down
13 changes: 8 additions & 5 deletions tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,12 +29,15 @@ TEST(TestLoadTricycleSteeringController, load_controller)

controller_manager::ControllerManager cm(
executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
const std::string test_file_path =
std::string(TEST_FILES_DIRECTORY) + "/tricycle_steering_controller_params.yaml";

ASSERT_NE(
cm.load_controller(
"test_tricycle_steering_controller",
"tricycle_steering_controller/TricycleSteeringController"),
nullptr);
cm.set_parameter({"test_tricycle_steering_controller.params_file", test_file_path});
cm.set_parameter(
{"test_tricycle_steering_controller.type",
"tricycle_steering_controller/TricycleSteeringController"});

ASSERT_NE(cm.load_controller("test_tricycle_steering_controller"), nullptr);
}

int main(int argc, char ** argv)
Expand Down
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