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Adjust tests after passing URDF to controllers #817

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Nov 7, 2023
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
2 changes: 1 addition & 1 deletion admittance_controller/test/test_admittance_controller.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -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();
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
30 changes: 16 additions & 14 deletions diff_drive_controller/test/test_diff_drive_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -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(
Expand All @@ -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(
Expand All @@ -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(
Expand All @@ -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";
Expand Down Expand Up @@ -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";
Expand Down Expand Up @@ -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";
Expand Down Expand Up @@ -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(
Expand All @@ -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
Expand All @@ -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(
Expand All @@ -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(
Expand All @@ -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(
Expand All @@ -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(
Expand Down Expand Up @@ -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(
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
2 changes: 1 addition & 1 deletion gripper_controllers/test/test_gripper_controllers.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
3 changes: 1 addition & 2 deletions imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -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() {}
Expand All @@ -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;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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});
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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();
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
16 changes: 9 additions & 7 deletions tricycle_controller/test/test_tricycle_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -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(
Expand All @@ -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(
Expand All @@ -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(
Expand All @@ -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
Expand All @@ -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(
Expand Down Expand Up @@ -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(
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
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