From e2600490481092ba2709c5ac9cb1b36b1032a4bc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Sat, 11 May 2024 19:48:19 +0200
Subject: [PATCH] Fix dependencies for source build (#1533)

* Don't use std::system call inside test

* Give launch_ros as explicit dependency

* Test the source build on this branch

* Revert "Test the source build on this branch"

This reverts commit 9884b112257fc2626d1d03ba523d02247c6f258e.
---
 controller_interface/test/test_controller_interface.cpp | 3 ++-
 joint_limits/package.xml                                | 1 +
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/controller_interface/test/test_controller_interface.cpp b/controller_interface/test/test_controller_interface.cpp
index 3976b2a81e..03838b1a2e 100644
--- a/controller_interface/test/test_controller_interface.cpp
+++ b/controller_interface/test/test_controller_interface.cpp
@@ -88,7 +88,8 @@ TEST(TestableControllerInterface, setting_update_rate_in_configure)
   ASSERT_EQ(controller.get_update_rate(), 2812u);
 
   // Test updating of update_rate parameter
-  EXPECT_EQ(std::system("ros2 param set /testable_controller_interface update_rate 623"), 0);
+  auto res = controller.get_node()->set_parameter(rclcpp::Parameter("update_rate", 623));
+  EXPECT_EQ(res.successful, true);
   // Keep the same update rate until transition from 'UNCONFIGURED' TO 'INACTIVE' does not happen
   controller.configure();  // No transition so the update rate should stay intact
   ASSERT_NE(controller.get_update_rate(), 623u);
diff --git a/joint_limits/package.xml b/joint_limits/package.xml
index eba131c851..1aa1ac5705 100644
--- a/joint_limits/package.xml
+++ b/joint_limits/package.xml
@@ -20,6 +20,7 @@
   <depend>rclcpp_lifecycle</depend>
   <depend>urdf</depend>
 
+  <test_depend>launch_ros</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>