Adjust tests after passing URDF to controllers (ros-controls#817)

christophfroehlich · Nov 7, 2023 · 5f78fe4 · 5f78fe4
1 parent 2c6d7a6
commit 5f78fe4
Show file tree

Hide file tree

Showing 18 changed files with 44 additions and 41 deletions.
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -147,7 +147,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_ackermann_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -185,7 +185,7 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result = controller_->init(controller_name, "", options);
+    auto result = controller_->init(controller_name, "", "", options);
 
     controller_->export_reference_interfaces();
     assign_interfaces();

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -144,7 +144,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_bicycle_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -189,19 +189,21 @@ class TestDiffDriveController : public ::testing::Test
 
   rclcpp::Node::SharedPtr pub_node;
   rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr velocity_publisher;
+
+  const std::string urdf_ = "";
 };
 
 TEST_F(TestDiffDriveController, configure_fails_without_parameters)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
 
 TEST_F(TestDiffDriveController, configure_fails_with_only_left_or_only_right_side_defined)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -221,7 +223,7 @@ TEST_F(TestDiffDriveController, configure_fails_with_only_left_or_only_right_sid
 
 TEST_F(TestDiffDriveController, configure_fails_with_mismatching_wheel_side_size)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -237,7 +239,7 @@ TEST_F(TestDiffDriveController, configure_fails_with_mismatching_wheel_side_size
 
 TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -257,7 +259,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -290,7 +292,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_names
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namespace)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -325,7 +327,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namesp
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_namespace)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -361,7 +363,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_name
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -396,7 +398,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_names
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -433,7 +435,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -467,7 +469,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name
 
 TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -481,7 +483,7 @@ TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_succeeds_with_pos_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   // We implicitly test that by default position feedback is required
@@ -497,7 +499,7 @@ TEST_F(TestDiffDriveController, activate_succeeds_with_pos_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_succeeds_with_vel_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -514,7 +516,7 @@ TEST_F(TestDiffDriveController, activate_succeeds_with_vel_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_1)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -531,7 +533,7 @@ TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_1)
 
 TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -548,7 +550,7 @@ TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)
 
 TEST_F(TestDiffDriveController, cleanup)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -597,7 +599,7 @@ TEST_F(TestDiffDriveController, cleanup)
 
 TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(

diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -54,7 +54,7 @@ void JointGroupEffortControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void JointGroupEffortControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_effort_controller");
+  const auto result = controller_->init("test_joint_group_effort_controller", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
@@ -53,7 +53,7 @@ void ForceTorqueSensorBroadcasterTest::TearDown() { fts_broadcaster_.reset(nullp
 
 void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster()
 {
-  const auto result = fts_broadcaster_->init("test_force_torque_sensor_broadcaster");
+  const auto result = fts_broadcaster_->init("test_force_torque_sensor_broadcaster", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;

diff --git a/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp
@@ -60,7 +60,7 @@ void ForwardCommandControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void ForwardCommandControllerTest::SetUpController()
 {
-  const auto result = controller_->init("forward_command_controller");
+  const auto result = controller_->init("forward_command_controller", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
@@ -62,7 +62,7 @@ void MultiInterfaceForwardCommandControllerTest::TearDown() { controller_.reset(
 
 void MultiInterfaceForwardCommandControllerTest::SetUpController(bool set_params_and_activate)
 {
-  const auto result = controller_->init("multi_interface_forward_command_controller");
+  const auto result = controller_->init("multi_interface_forward_command_controller", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

diff --git a/gripper_controllers/test/test_gripper_controllers.cpp b/gripper_controllers/test/test_gripper_controllers.cpp
@@ -60,7 +60,7 @@ void GripperControllerTest<T>::TearDown()
 template <typename T>
 void GripperControllerTest<T>::SetUpController()
 {
-  const auto result = controller_->init("gripper_controller");
+  const auto result = controller_->init("gripper_controller", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
@@ -37,7 +37,6 @@ namespace
 {
 constexpr auto NODE_SUCCESS = controller_interface::CallbackReturn::SUCCESS;
 constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR;
-
 }  // namespace
 
 void IMUSensorBroadcasterTest::SetUpTestCase() {}
@@ -54,7 +53,7 @@ void IMUSensorBroadcasterTest::TearDown() { imu_broadcaster_.reset(nullptr); }
 
 void IMUSensorBroadcasterTest::SetUpIMUBroadcaster()
 {
-  const auto result = imu_broadcaster_->init("test_imu_sensor_broadcaster");
+  const auto result = imu_broadcaster_->init("test_imu_sensor_broadcaster", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;

diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
@@ -69,7 +69,7 @@ void JointStateBroadcasterTest::SetUpStateBroadcaster(
 void JointStateBroadcasterTest::init_broadcaster_and_set_parameters(
   const std::vector<std::string> & joint_names, const std::vector<std::string> & interfaces)
 {
-  const auto result = state_broadcaster_->init("joint_state_broadcaster");
+  const auto result = state_broadcaster_->init("joint_state_broadcaster", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   state_broadcaster_->get_node()->set_parameter({"joints", joint_names});

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -189,7 +189,7 @@ class TrajectoryControllerTest : public ::testing::Test
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
 
-    auto ret = traj_controller_->init(controller_name_, "", node_options);
+    auto ret = traj_controller_->init(controller_name_, "", "", node_options);
     if (ret != controller_interface::return_type::OK)
     {
       FAIL();

diff --git a/position_controllers/test/test_joint_group_position_controller.cpp b/position_controllers/test/test_joint_group_position_controller.cpp
@@ -54,7 +54,7 @@ void JointGroupPositionControllerTest::TearDown() { controller_.reset(nullptr);
 
 void JointGroupPositionControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_position_controller");
+  const auto result = controller_->init("test_joint_group_position_controller", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
@@ -34,7 +34,7 @@ controller_interface::return_type RangeSensorBroadcasterTest::init_broadcaster(
   std::string broadcaster_name)
 {
   controller_interface::return_type result = controller_interface::return_type::ERROR;
-  result = range_broadcaster_->init(broadcaster_name);
+  result = range_broadcaster_->init(broadcaster_name, "");
 
   if (controller_interface::return_type::OK == result)
   {

diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp
@@ -168,7 +168,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_steering_controllers_library")
   {
-    ASSERT_EQ(controller_->init(controller_name), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp
@@ -167,18 +167,20 @@ class TestTricycleController : public ::testing::Test
 
   rclcpp::Node::SharedPtr pub_node;
   rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr velocity_publisher;
+
+  const std::string urdf_ = "";
 };
 
 TEST_F(TestTricycleController, configure_fails_without_parameters)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
 
 TEST_F(TestTricycleController, configure_fails_if_only_traction_or_steering_side_defined)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -198,7 +200,7 @@ TEST_F(TestTricycleController, configure_fails_if_only_traction_or_steering_side
 
 TEST_F(TestTricycleController, configure_succeeds_when_joints_are_specified)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -211,7 +213,7 @@ TEST_F(TestTricycleController, configure_succeeds_when_joints_are_specified)
 
 TEST_F(TestTricycleController, activate_fails_without_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -225,7 +227,7 @@ TEST_F(TestTricycleController, activate_fails_without_resources_assigned)
 
 TEST_F(TestTricycleController, activate_succeeds_with_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   // We implicitly test that by default position feedback is required
@@ -241,7 +243,7 @@ TEST_F(TestTricycleController, activate_succeeds_with_resources_assigned)
 
 TEST_F(TestTricycleController, cleanup)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -290,7 +292,7 @@ TEST_F(TestTricycleController, cleanup)
 
 TEST_F(TestTricycleController, correct_initialization_using_parameters)
 {
-  const auto ret = controller_->init(controller_name);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(

diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
@@ -146,7 +146,7 @@ class TricycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_tricycle_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
@@ -54,7 +54,7 @@ void JointGroupVelocityControllerTest::TearDown() { controller_.reset(nullptr);
 
 void JointGroupVelocityControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_velocity_controller");
+  const auto result = controller_->init("test_joint_group_velocity_controller", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;