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[Iron] Add a fix for the tests given the new type description parameter (backport #520) #521

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merged 1 commit into from
Jul 18, 2023
Merged

[Iron] Add a fix for the tests given the new type description parameter (backport #520) #521

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15 changes: 12 additions & 3 deletions test_rclcpp/test/parameter_fixtures.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,12 @@ void declare_test_parameters(std::shared_ptr<rclcpp::Node> node, int declare_up_
}
}

void add_builtin_parameter_names(std::vector<std::string> & param_names)
{
param_names.push_back("start_type_description_service");
param_names.push_back("use_sim_time");
}

void test_set_parameters_sync(
std::shared_ptr<rclcpp::SyncParametersClient> parameters_client,
int successful_up_to = -1)
Expand Down Expand Up @@ -208,8 +214,9 @@ void test_get_parameters_sync(
parameters_and_prefixes = parameters_client->list_parameters(
{}, rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE, std::chrono::seconds(1));
std::vector<std::string> all_names = {
"foo", "bar", "barstr", "baz", "foo.first", "foo.second", "foobar", "use_sim_time"
"foo", "bar", "barstr", "baz", "foo.first", "foo.second", "foobar"
};
add_builtin_parameter_names(all_names);
size_t filtered_size = 0u;
for (const auto & item : parameters_and_prefixes.names) {
const char prefix_not_to_count[] = "qos_overrides.";
Expand Down Expand Up @@ -249,8 +256,9 @@ void test_get_parameters_sync(
// List most of the parameters, using an empty prefix list and depth=1
parameters_and_prefixes = parameters_client->list_parameters({}, 1u, std::chrono::seconds(1));
std::vector<std::string> depth_one_names = {
"foo", "bar", "barstr", "baz", "foobar", "use_sim_time"
"foo", "bar", "barstr", "baz", "foobar"
};
add_builtin_parameter_names(depth_one_names);
EXPECT_EQ(parameters_and_prefixes.names.size(), depth_one_names.size());
for (auto & name : depth_one_names) {
EXPECT_NE(
Expand Down Expand Up @@ -353,8 +361,9 @@ void test_get_parameters_async(
rclcpp::spin_until_future_complete(node, result5);
parameters_and_prefixes = result5.get();
std::vector<std::string> all_names = {
"foo", "bar", "barstr", "baz", "foo.first", "foo.second", "foobar", "use_sim_time"
"foo", "bar", "barstr", "baz", "foo.first", "foo.second", "foobar"
};
add_builtin_parameter_names(all_names);
size_t filtered_size = 0u;
for (const auto & item : parameters_and_prefixes.names) {
const char prefix_not_to_count[] = "qos_overrides.";
Expand Down