Merge branch 'master' into jtc_tolerance_tests

ros-controls · Jul 18, 2023 · a4f00cb · a4f00cb
2 parents 6042dd3 + 3c7072e
commit a4f00cb
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Showing 2 changed files with 20 additions and 6 deletions.
diff --git a/admittance_controller/test/test_admittance_controller.cpp b/admittance_controller/test/test_admittance_controller.cpp
@@ -65,10 +65,18 @@ INSTANTIATE_TEST_SUITE_P(
     // wrong length selected axes
     std::make_tuple(
       std::string("admittance.selected_axes"),
-      rclcpp::ParameterValue(std::vector<double>() = {1, 2, 3})),
-    // invalid robot description
-    std::make_tuple(
-      std::string("robot_description"), rclcpp::ParameterValue(std::string() = "bad_robot"))));
+      rclcpp::ParameterValue(std::vector<double>() = {1, 2, 3}))
+    // invalid robot description.
+    // TODO(anyone): deactivated, because SetUpController returns SUCCESS here?
+    // ,std::make_tuple(
+    //   std::string("robot_description"), rclcpp::ParameterValue(std::string() = "bad_robot")))
+    ));
+
+// Test on_init returns ERROR when a parameter is invalid
+TEST_P(AdmittanceControllerTestParameterizedInvalidParameters, invalid_parameters)
+{
+  ASSERT_EQ(SetUpController(), controller_interface::return_type::ERROR);
+}
 
 TEST_F(AdmittanceControllerTest, all_parameters_set_configure_success)
 {

diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -456,9 +456,15 @@ class AdmittanceControllerTestParameterizedInvalidParameters
   static void TearDownTestCase() { AdmittanceControllerTest::TearDownTestCase(); }
 
 protected:
-  void SetUpController()
+  controller_interface::return_type SetUpController()
   {
-    AdmittanceControllerTest::SetUpController("test_admittance_controller");
+    auto param_name = std::get<0>(GetParam());
+    auto param_value = std::get<1>(GetParam());
+    std::vector<rclcpp::Parameter> parameter_overrides;
+    rclcpp::Parameter param(param_name, param_value);
+    parameter_overrides.push_back(param);
+    return AdmittanceControllerTest::SetUpController(
+      "test_admittance_controller", parameter_overrides);
   }
 };