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fix tests for API break of passing controller manager update rate in … #854

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merged 1 commit into from
Nov 20, 2023
Merged

fix tests for API break of passing controller manager update rate in … #854

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2 changes: 1 addition & 1 deletion ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
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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, "", 0), controller_interface::return_type::OK);

if (position_feedback_ == true)
{
Expand Down
2 changes: 1 addition & 1 deletion admittance_controller/test/test_admittance_controller.hpp
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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, "", 0, "", options);

controller_->export_reference_interfaces();
assign_interfaces();
Expand Down
2 changes: 1 addition & 1 deletion bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
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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, "", 0), controller_interface::return_type::OK);

if (position_feedback_ == true)
{
Expand Down
34 changes: 17 additions & 17 deletions diff_drive_controller/test/test_diff_drive_controller.cpp
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Expand Up @@ -195,15 +195,15 @@ class TestDiffDriveController : public ::testing::Test

TEST_F(TestDiffDriveController, configure_fails_without_parameters)
{
const auto ret = controller_->init(controller_name, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand All @@ -223,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand All @@ -239,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand All @@ -259,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

std::string odom_id = "odom";
Expand Down Expand Up @@ -292,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

std::string odom_id = "odom";
Expand Down Expand Up @@ -327,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

std::string odom_id = "odom";
Expand Down Expand Up @@ -363,7 +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, urdf_, test_namespace);
const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
ASSERT_EQ(ret, controller_interface::return_type::OK);

std::string odom_id = "odom";
Expand Down Expand Up @@ -398,7 +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, urdf_, test_namespace);
const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
ASSERT_EQ(ret, controller_interface::return_type::OK);

std::string odom_id = "odom";
Expand Down Expand Up @@ -435,7 +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, urdf_, test_namespace);
const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
ASSERT_EQ(ret, controller_interface::return_type::OK);

std::string odom_id = "odom";
Expand Down Expand Up @@ -469,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand All @@ -483,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

// We implicitly test that by default position feedback is required
Expand All @@ -499,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand All @@ -516,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand All @@ -533,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand All @@ -550,7 +550,7 @@ TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)

TEST_F(TestDiffDriveController, cleanup)
{
const auto ret = controller_->init(controller_name, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand Down Expand Up @@ -599,7 +599,7 @@ TEST_F(TestDiffDriveController, cleanup)

TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
{
const auto ret = controller_->init(controller_name, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand Down
2 changes: 1 addition & 1 deletion effort_controllers/test/test_joint_group_effort_controller.cpp
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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", "", 0);
ASSERT_EQ(result, controller_interface::return_type::OK);

std::vector<LoanedCommandInterface> command_ifs;
Expand Down
2 changes: 1 addition & 1 deletion force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
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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", "", 0);
ASSERT_EQ(result, controller_interface::return_type::OK);

std::vector<LoanedStateInterface> state_ifs;
Expand Down
2 changes: 1 addition & 1 deletion forward_command_controller/test/test_forward_command_controller.cpp
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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", "", 0);
ASSERT_EQ(result, controller_interface::return_type::OK);

std::vector<LoanedCommandInterface> command_ifs;
Expand Down
2 changes: 1 addition & 1 deletion forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
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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", "", 0);
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
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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", "", 0);
ASSERT_EQ(result, controller_interface::return_type::OK);

std::vector<LoanedCommandInterface> command_ifs;
Expand Down
2 changes: 1 addition & 1 deletion imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
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Expand Up @@ -53,7 +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", "", 0);
ASSERT_EQ(result, controller_interface::return_type::OK);

std::vector<LoanedStateInterface> state_ifs;
Expand Down
2 changes: 1 addition & 1 deletion joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
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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", "", 0);
ASSERT_EQ(result, controller_interface::return_type::OK);

state_broadcaster_->get_node()->set_parameter({"joints", joint_names});
Expand Down
2 changes: 1 addition & 1 deletion joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
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Expand Up @@ -196,7 +196,7 @@ 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_, "", 0, "", node_options);
if (ret != controller_interface::return_type::OK)
{
FAIL();
Expand Down
2 changes: 1 addition & 1 deletion position_controllers/test/test_joint_group_position_controller.cpp
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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", "", 0);
ASSERT_EQ(result, controller_interface::return_type::OK);

std::vector<LoanedCommandInterface> command_ifs;
Expand Down
2 changes: 1 addition & 1 deletion range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
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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, "", 0);

if (controller_interface::return_type::OK == result)
{
Expand Down
2 changes: 1 addition & 1 deletion steering_controllers_library/test/test_steering_controllers_library.hpp
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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, "", 0), controller_interface::return_type::OK);

if (position_feedback_ == true)
{
Expand Down
14 changes: 7 additions & 7 deletions tricycle_controller/test/test_tricycle_controller.cpp
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Expand Up @@ -173,14 +173,14 @@ class TestTricycleController : public ::testing::Test

TEST_F(TestTricycleController, configure_fails_without_parameters)
{
const auto ret = controller_->init(controller_name, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand All @@ -200,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand All @@ -213,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand All @@ -227,7 +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, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

// We implicitly test that by default position feedback is required
Expand All @@ -243,7 +243,7 @@ TEST_F(TestTricycleController, activate_succeeds_with_resources_assigned)

TEST_F(TestTricycleController, cleanup)
{
const auto ret = controller_->init(controller_name, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand Down Expand Up @@ -292,7 +292,7 @@ TEST_F(TestTricycleController, cleanup)

TEST_F(TestTricycleController, correct_initialization_using_parameters)
{
const auto ret = controller_->init(controller_name, urdf_);
const auto ret = controller_->init(controller_name, urdf_, 0);
ASSERT_EQ(ret, controller_interface::return_type::OK);

controller_->get_node()->set_parameter(
Expand Down
2 changes: 1 addition & 1 deletion tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
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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, "", 0), controller_interface::return_type::OK);

if (position_feedback_ == true)
{
Expand Down
2 changes: 1 addition & 1 deletion velocity_controllers/test/test_joint_group_velocity_controller.cpp
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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", "", 0);
ASSERT_EQ(result, controller_interface::return_type::OK);

std::vector<LoanedCommandInterface> command_ifs;
Expand Down
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