Fix tests for using new get_node_options API (#840)

ros-controls · Feb 1, 2024 · 2817f27 · 2817f27
1 parent fd8b91f
commit 2817f27
Show file tree

Hide file tree

Showing 19 changed files with 52 additions and 19 deletions.
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -147,7 +147,9 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_ackermann_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
+    ASSERT_EQ(
+      controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
+      controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -144,7 +144,9 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_bicycle_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
+    ASSERT_EQ(
+      controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
+      controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -218,7 +218,8 @@ class TestDiffDriveController : public ::testing::Test
 
 TEST_F(TestDiffDriveController, init_fails_without_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret =
+    controller_->init(controller_name, urdf_, 0, "", controller_->define_custom_node_options());
   ASSERT_EQ(ret, controller_interface::return_type::ERROR);
 }
 

diff --git a/doc/writing_new_controller.rst b/doc/writing_new_controller.rst
@@ -42,7 +42,9 @@ The following is a step-by-step guide to create source files, basic tests, and c
    5. Add a constructor without parameters and the following public methods overriding the ``ControllerInterface`` definition: ``on_init``, ``command_interface_configuration``, ``state_interface_configuration``, ``on_configure``, ``on_activate``, ``on_deactivate``, ``update``.
       For exact definitions check the ``controller_interface/controller_interface.hpp`` header or one of the controllers from `ros2_controllers <https://github.com/ros-controls/ros2_controllers>`_.
 
-   6. (optional) Often, controllers accept lists of joint names and interface names as parameters.
+   6. (Optional) The NodeOptions of the LifecycleNode can be personalized by overriding the default method ``get_node_options``.
+
+   7. (Optional) Often, controllers accept lists of joint names and interface names as parameters.
       If so, you can add two protected string vectors to store those values.
 
 4. **Adding definitions into source file (.cpp)**

diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -54,7 +54,8 @@ void JointGroupEffortControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void JointGroupEffortControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_effort_controller", "", 0);
+  const auto result = controller_->init(
+    "test_joint_group_effort_controller", "", 0, "", controller_->define_custom_node_options());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
@@ -55,7 +55,9 @@ void ForceTorqueSensorBroadcasterTest::TearDown() { fts_broadcaster_.reset(nullp
 
 void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster()
 {
-  const auto result = fts_broadcaster_->init("test_force_torque_sensor_broadcaster", "", 0);
+  const auto result = fts_broadcaster_->init(
+    "test_force_torque_sensor_broadcaster", "", 0, "",
+    fts_broadcaster_->define_custom_node_options());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;

diff --git a/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp
@@ -62,7 +62,8 @@ void ForwardCommandControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void ForwardCommandControllerTest::SetUpController()
 {
-  const auto result = controller_->init("forward_command_controller", "", 0);
+  const auto result = controller_->init(
+    "forward_command_controller", "", 0, "", controller_->define_custom_node_options());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
@@ -64,7 +64,9 @@ void MultiInterfaceForwardCommandControllerTest::TearDown() { controller_.reset(
 
 void MultiInterfaceForwardCommandControllerTest::SetUpController(bool set_params_and_activate)
 {
-  const auto result = controller_->init("multi_interface_forward_command_controller", "", 0);
+  const auto result = controller_->init(
+    "multi_interface_forward_command_controller", "", 0, "",
+    controller_->define_custom_node_options());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

diff --git a/gripper_controllers/test/test_gripper_controllers.cpp b/gripper_controllers/test/test_gripper_controllers.cpp
@@ -62,7 +62,8 @@ void GripperControllerTest<T>::TearDown()
 template <typename T>
 void GripperControllerTest<T>::SetUpController()
 {
-  const auto result = controller_->init("gripper_controller", "", 0);
+  const auto result =
+    controller_->init("gripper_controller", "", 0, "", controller_->define_custom_node_options());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
@@ -55,7 +55,8 @@ void IMUSensorBroadcasterTest::TearDown() { imu_broadcaster_.reset(nullptr); }
 
 void IMUSensorBroadcasterTest::SetUpIMUBroadcaster()
 {
-  const auto result = imu_broadcaster_->init("test_imu_sensor_broadcaster", "", 0);
+  const auto result = imu_broadcaster_->init(
+    "test_imu_sensor_broadcaster", "", 0, "", imu_broadcaster_->define_custom_node_options());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;

diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
@@ -69,7 +69,8 @@ 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", "", 0);
+  const auto result = state_broadcaster_->init(
+    "joint_state_broadcaster", "", 0, "", state_broadcaster_->define_custom_node_options());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   state_broadcaster_->get_node()->set_parameter({"joints", joint_names});

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -66,6 +66,8 @@ class TestableJointTrajectoryController
     return ret;
   }
 
+  rclcpp::NodeOptions define_custom_node_options() const override { return node_options_; }
+
   /**
    * @brief wait_for_trajectory block until a new JointTrajectory is received.
    * Requires that the executor is not spinned elsewhere between the
@@ -157,6 +159,8 @@ class TestableJointTrajectoryController
 
   double get_cmd_timeout() { return cmd_timeout_; }
 
+  void set_node_options(const rclcpp::NodeOptions & node_options) { node_options_ = node_options; }
+
   trajectory_msgs::msg::JointTrajectoryPoint get_state_feedback() { return state_current_; }
   trajectory_msgs::msg::JointTrajectoryPoint get_state_reference() { return state_desired_; }
   trajectory_msgs::msg::JointTrajectoryPoint get_state_error() { return state_error_; }
@@ -179,6 +183,7 @@ class TestableJointTrajectoryController
   }
 
   rclcpp::WaitSet joint_cmd_sub_wait_set_;
+  rclcpp::NodeOptions node_options_;
 };
 
 class TrajectoryControllerTest : public ::testing::Test
@@ -233,8 +238,10 @@ class TrajectoryControllerTest : public ::testing::Test
     parameter_overrides.push_back(rclcpp::Parameter("state_interfaces", state_interface_types_));
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
+    traj_controller_->set_node_options(node_options);
 
-    return traj_controller_->init(controller_name_, "", 0, "", node_options);
+    return traj_controller_->init(
+      controller_name_, "", 0, "", traj_controller_->define_custom_node_options());
   }
 
   void SetPidParameters(

diff --git a/pid_controller/test/test_pid_controller.hpp b/pid_controller/test/test_pid_controller.hpp
@@ -146,7 +146,9 @@ class PidControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_pid_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
+    ASSERT_EQ(
+      controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
+      controller_interface::return_type::OK);
 
     std::vector<hardware_interface::LoanedCommandInterface> command_ifs;
     command_itfs_.reserve(dof_names_.size());

diff --git a/position_controllers/test/test_joint_group_position_controller.cpp b/position_controllers/test/test_joint_group_position_controller.cpp
@@ -54,7 +54,8 @@ void JointGroupPositionControllerTest::TearDown() { controller_.reset(nullptr);
 
 void JointGroupPositionControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_position_controller", "", 0);
+  const auto result = controller_->init(
+    "test_joint_group_position_controller", "", 0, "", controller_->define_custom_node_options());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
@@ -37,7 +37,8 @@ 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, "", 0);
+  result = range_broadcaster_->init(
+    broadcaster_name, "", 0, "", range_broadcaster_->define_custom_node_options());
 
   if (controller_interface::return_type::OK == result)
   {

diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp
@@ -168,7 +168,9 @@ class SteeringControllersLibraryFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_steering_controllers_library")
   {
-    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
+    ASSERT_EQ(
+      controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
+      controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp
@@ -197,7 +197,8 @@ class TestTricycleController : public ::testing::Test
 
 TEST_F(TestTricycleController, init_fails_without_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret =
+    controller_->init(controller_name, urdf_, 0, "", controller_->define_custom_node_options());
   ASSERT_EQ(ret, controller_interface::return_type::ERROR);
 }
 

diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
@@ -146,7 +146,9 @@ class TricycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_tricycle_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
+    ASSERT_EQ(
+      controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
+      controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
@@ -54,7 +54,8 @@ void JointGroupVelocityControllerTest::TearDown() { controller_.reset(nullptr);
 
 void JointGroupVelocityControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_velocity_controller", "", 0);
+  const auto result = controller_->init(
+    "test_joint_group_velocity_controller", "", 0, "", controller_->define_custom_node_options());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;