From 1c8a58b70a22edfe8a88a47325a37aa62eb3a1d9 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 18 Feb 2024 21:31:44 +0000 Subject: [PATCH] Fix merge conflicts --- .../test/test_tricycle_controller.cpp | 62 +------------------ 1 file changed, 1 insertion(+), 61 deletions(-) diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp index d40aa84484..92fb88914a 100644 --- a/tricycle_controller/test/test_tricycle_controller.cpp +++ b/tricycle_controller/test/test_tricycle_controller.cpp @@ -168,7 +168,7 @@ class TestTricycleController : public ::testing::Test parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end()); node_options.parameter_overrides(parameter_overrides); - return controller_->init(controller_name, urdf_, 0, "", node_options); + return controller_->init(controller_name, "", node_options); } const std::string controller_name = "test_tricycle_controller"; @@ -195,25 +195,14 @@ class TestTricycleController : public ::testing::Test TEST_F(TestTricycleController, init_fails_without_parameters) { -<<<<<<< HEAD const auto ret = controller_->init(controller_name); - ASSERT_EQ(ret, controller_interface::return_type::OK); - ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR); -======= - const auto ret = controller_->init(controller_name, urdf_, 0); ASSERT_EQ(ret, controller_interface::return_type::ERROR); ->>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957)) } TEST_F(TestTricycleController, init_fails_if_only_traction_or_steering_side_defined) { -<<<<<<< HEAD - const auto ret = controller_->init(controller_name); - ASSERT_EQ(ret, controller_interface::return_type::OK); -======= ASSERT_EQ( InitController(traction_joint_name, std::string()), controller_interface::return_type::ERROR); ->>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957)) ASSERT_EQ( InitController(std::string(), steering_joint_name), controller_interface::return_type::ERROR); @@ -221,17 +210,7 @@ TEST_F(TestTricycleController, init_fails_if_only_traction_or_steering_side_defi TEST_F(TestTricycleController, configure_succeeds_when_joints_are_specified) { -<<<<<<< HEAD - const auto ret = controller_->init(controller_name); - ASSERT_EQ(ret, controller_interface::return_type::OK); - - controller_->get_node()->set_parameter( - rclcpp::Parameter("traction_joint_name", rclcpp::ParameterValue(traction_joint_name))); - controller_->get_node()->set_parameter( - rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name))); -======= ASSERT_EQ(InitController(), controller_interface::return_type::OK); ->>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957)) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS); @@ -254,17 +233,7 @@ TEST_F(TestTricycleController, configure_succeeds_when_joints_are_specified) TEST_F(TestTricycleController, activate_fails_without_resources_assigned) { -<<<<<<< HEAD - const auto ret = controller_->init(controller_name); - ASSERT_EQ(ret, controller_interface::return_type::OK); - - controller_->get_node()->set_parameter( - rclcpp::Parameter("traction_joint_name", rclcpp::ParameterValue(traction_joint_name))); - controller_->get_node()->set_parameter( - rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name))); -======= ASSERT_EQ(InitController(), controller_interface::return_type::OK); ->>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957)) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR); @@ -272,12 +241,7 @@ TEST_F(TestTricycleController, activate_fails_without_resources_assigned) TEST_F(TestTricycleController, activate_succeeds_with_resources_assigned) { -<<<<<<< HEAD - const auto ret = controller_->init(controller_name); - ASSERT_EQ(ret, controller_interface::return_type::OK); -======= ASSERT_EQ(InitController(), controller_interface::return_type::OK); ->>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957)) // We implicitly test that by default position feedback is required ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS); @@ -287,23 +251,11 @@ TEST_F(TestTricycleController, activate_succeeds_with_resources_assigned) TEST_F(TestTricycleController, cleanup) { -<<<<<<< HEAD - const auto ret = controller_->init(controller_name); - ASSERT_EQ(ret, controller_interface::return_type::OK); - - controller_->get_node()->set_parameter( - rclcpp::Parameter("traction_joint_name", rclcpp::ParameterValue(traction_joint_name))); - controller_->get_node()->set_parameter( - rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name))); - controller_->get_node()->set_parameter(rclcpp::Parameter("wheelbase", 1.2)); - controller_->get_node()->set_parameter(rclcpp::Parameter("wheel_radius", 0.12)); -======= ASSERT_EQ( InitController( traction_joint_name, steering_joint_name, {rclcpp::Parameter("wheelbase", 1.2), rclcpp::Parameter("wheel_radius", 0.12)}), controller_interface::return_type::OK); ->>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957)) rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(controller_->get_node()->get_node_base_interface()); @@ -344,23 +296,11 @@ TEST_F(TestTricycleController, cleanup) TEST_F(TestTricycleController, correct_initialization_using_parameters) { -<<<<<<< HEAD - const auto ret = controller_->init(controller_name); - ASSERT_EQ(ret, controller_interface::return_type::OK); - - controller_->get_node()->set_parameter( - rclcpp::Parameter("traction_joint_name", rclcpp::ParameterValue(traction_joint_name))); - controller_->get_node()->set_parameter( - rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name))); - controller_->get_node()->set_parameter(rclcpp::Parameter("wheelbase", 0.4)); - controller_->get_node()->set_parameter(rclcpp::Parameter("wheel_radius", 1.0)); -======= ASSERT_EQ( InitController( traction_joint_name, steering_joint_name, {rclcpp::Parameter("wheelbase", 0.4), rclcpp::Parameter("wheel_radius", 1.0)}), controller_interface::return_type::OK); ->>>>>>> 8d732f1 ([tricycle_controller] Use generate_parameter_library (#957)) rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(controller_->get_node()->get_node_base_interface());