Renovate load controller tests (#569) (#677)

(cherry picked from commit 4037719) Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
ros-controls · Jun 17, 2023 · 355d701 · 355d701
1 parent 03ab833
commit 355d701
Show file tree

Hide file tree

Showing 13 changed files with 56 additions and 31 deletions.
diff --git a/admittance_controller/test/test_load_admittance_controller.cpp b/admittance_controller/test/test_load_admittance_controller.cpp
@@ -33,8 +33,9 @@ TEST(TestLoadAdmittanceController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(
-    cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"));
+  ASSERT_EQ(
+    cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"),
+    nullptr);
 }
 
 int main(int argc, char ** argv)

diff --git a/diff_drive_controller/test/test_load_diff_drive_controller.cpp b/diff_drive_controller/test/test_load_diff_drive_controller.cpp
@@ -30,8 +30,9 @@ TEST(TestLoadDiffDriveController, load_controller)
     std::make_unique<hardware_interface::ResourceManager>(ros2_control_test_assets::diffbot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(
-    cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"));
+  ASSERT_NE(
+    cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/effort_controllers/test/test_load_joint_group_effort_controller.cpp b/effort_controllers/test/test_load_joint_group_effort_controller.cpp
@@ -32,8 +32,10 @@ TEST(TestLoadJointGroupVelocityController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_joint_group_effort_controller", "effort_controllers/JointGroupEffortController"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_joint_group_effort_controller", "effort_controllers/JointGroupEffortController"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp
@@ -38,9 +38,11 @@ TEST(TestLoadForceTorqueSensorBroadcaster, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_force_torque_sensor_broadcaster",
-    "force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_force_torque_sensor_broadcaster",
+      "force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/forward_command_controller/test/test_load_forward_command_controller.cpp b/forward_command_controller/test/test_load_forward_command_controller.cpp
@@ -34,8 +34,10 @@ TEST(TestLoadForwardCommandController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_forward_command_controller", "forward_command_controller/ForwardCommandController"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_forward_command_controller", "forward_command_controller/ForwardCommandController"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp
@@ -35,7 +35,9 @@ TEST(TestLoadMultiInterfaceForwardController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_forward_command_controller",
-    "forward_command_controller/MultiInterfaceForwardCommandController"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_forward_command_controller",
+      "forward_command_controller/MultiInterfaceForwardCommandController"),
+    nullptr);
 }
diff --git a/gripper_controllers/test/test_load_gripper_action_controllers.cpp b/gripper_controllers/test/test_load_gripper_action_controllers.cpp
@@ -32,10 +32,14 @@ TEST(TestLoadGripperActionControllers, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_gripper_action_position_controller", "position_controllers/GripperActionController"));
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_gripper_action_effort_controller", "effort_controllers/GripperActionController"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_gripper_action_position_controller", "position_controllers/GripperActionController"),
+    nullptr);
+  ASSERT_NE(
+    cm.load_controller(
+      "test_gripper_action_effort_controller", "effort_controllers/GripperActionController"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp
@@ -38,8 +38,10 @@ TEST(TestLoadIMUSensorBroadcaster, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_imu_sensor_broadcaster", "imu_sensor_broadcaster/IMUSensorBroadcaster"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_imu_sensor_broadcaster", "imu_sensor_broadcaster/IMUSensorBroadcaster"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp
@@ -34,8 +34,10 @@ TEST(TestLoadJointStateBroadcaster, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_joint_state_broadcaster", "joint_state_broadcaster/JointStateBroadcaster"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_joint_state_broadcaster", "joint_state_broadcaster/JointStateBroadcaster"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp
@@ -35,8 +35,10 @@ TEST(TestLoadJointStateController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_joint_trajectory_controller", "joint_trajectory_controller/JointTrajectoryController"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_joint_trajectory_controller", "joint_trajectory_controller/JointTrajectoryController"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/position_controllers/test/test_load_joint_group_position_controller.cpp b/position_controllers/test/test_load_joint_group_position_controller.cpp
@@ -32,8 +32,10 @@ TEST(TestLoadJointGroupPositionController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_joint_group_position_controller", "position_controllers/JointGroupPositionController"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_joint_group_position_controller", "position_controllers/JointGroupPositionController"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/tricycle_controller/test/test_load_tricycle_controller.cpp b/tricycle_controller/test/test_load_tricycle_controller.cpp
@@ -16,7 +16,7 @@
  * Author: Tony Najjar
  */
 
-#include <gtest/gtest.h>
+#include <gmock/gmock.h>
 #include <memory>
 
 #include "controller_manager/controller_manager.hpp"
@@ -36,8 +36,9 @@ TEST(TestLoadTricycleController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(
-    cm.load_controller("test_tricycle_controller", "tricycle_controller/TricycleController"));
+  ASSERT_NE(
+    cm.load_controller("test_tricycle_controller", "tricycle_controller/TricycleController"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp
@@ -32,8 +32,10 @@ TEST(TestLoadJointGroupVelocityController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_joint_group_velocity_controller", "velocity_controllers/JointGroupVelocityController"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_joint_group_velocity_controller", "velocity_controllers/JointGroupVelocityController"),
+    nullptr);
 
   rclcpp::shutdown();
 }