Fix the controller chaining tests for the large commands

ros-controls · Jan 8, 2025 · c761a77 · c761a77
1 parent d5c994e
commit c761a77
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Showing 3 changed files with 9 additions and 41 deletions.
diff --git a/controller_manager/test/test_controller_manager_hardware_error_handling.cpp b/controller_manager/test/test_controller_manager_hardware_error_handling.cpp
@@ -68,7 +68,7 @@ class TestControllerManagerWithTestableCM
 public:
   TestControllerManagerWithTestableCM()
   : ControllerManagerFixture<TestableControllerManager>(
-      ros2_control_test_assets::minimal_robot_urdf_continuous_no_limits)
+      ros2_control_test_assets::minimal_robot_urdf_no_limits)
   {
   }
 

diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
@@ -103,6 +103,12 @@ class TestControllerChainingWithControllerManager
   public testing::WithParamInterface<Strictness>
 {
 public:
+  TestControllerChainingWithControllerManager()
+  : ControllerManagerFixture<TestableControllerManager>(
+      ros2_control_test_assets::minimal_robot_urdf_no_limits)
+  {
+  }
+
   void SetUp()
   {
     executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -450,41 +450,6 @@ const auto urdf_head_continuous_with_limits =
       </geometry>
     </collision>
   </link>
-  <joint name="joint3" type="revolute">
-    <origin rpy="1.57079632679 0 0" xyz="0 0 0.9"/>
-    <parent link="link2"/>
-    <child link="link3"/>
-    <limit effort="0.1" lower="-3.14159265359" upper="3.14159265359" velocity="0.2"/>
-  </joint>
-  <link name="link3">
-    <inertial>
-      <mass value="0.01"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="1" radius="0.1"/>
-      </geometry>
-      <material name="DarkGrey">
-        <color rgba="0.4 0.4 0.4 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="1" radius="0.1"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="tool_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="link2"/>
-    <child link="tool_link"/>
-  </joint>
-  <link name="tool_link">
-  </link>
 )";
 
 const auto urdf_head_prismatic_missing_limits =
@@ -2100,11 +2065,8 @@ const auto diff_drive_robot_sdf =
 
 const auto minimal_robot_urdf =
   std::string(urdf_head) + std::string(hardware_resources) + std::string(urdf_tail);
-const auto minimal_robot_urdf_continuous = std::string(urdf_head_continuous_with_limits) +
-                                           std::string(hardware_resources) + std::string(urdf_tail);
-const auto minimal_robot_urdf_continuous_no_limits =
-  std::string(urdf_head_continuous_missing_limits) + std::string(hardware_resources) +
-  std::string(urdf_tail);
+const auto minimal_robot_urdf_no_limits = std::string(urdf_head_continuous_missing_limits) +
+                                          std::string(hardware_resources) + std::string(urdf_tail);
 const auto minimal_async_robot_urdf =
   std::string(urdf_head) + std::string(async_hardware_resources) + std::string(urdf_tail);
 const auto minimal_robot_urdf_with_different_hw_rw_rate =