fix parallel_gripper_controller failing tests

parallel_gripper_controller/CMakeLists.txt

@@ -48,17 +48,19 @@ if(BUILD_TESTING)
   find_package(controller_manager REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
 
-  ament_add_gmock(test_load_parallel_gripper_action_controllers
-          test/test_load_parallel_gripper_action_controller.cpp
-  )
+  add_rostest_with_parameters_gmock(test_load_parallel_gripper_action_controllers
+  test/test_load_parallel_gripper_action_controller.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/test/gripper_action_controller_params.yaml)
+  target_include_directories(test_load_parallel_gripper_action_controllers PRIVATE include)
   ament_target_dependencies(test_load_parallel_gripper_action_controllers
     controller_manager
     ros2_control_test_assets
   )
 
-  ament_add_gmock(test_parallel_gripper_controller
-    test/test_parallel_gripper_controller.cpp
-  )
+  add_rostest_with_parameters_gmock(test_parallel_gripper_controller
+  test/test_parallel_gripper_controller.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/test/gripper_action_controller_params.yaml)
+  target_include_directories(test_parallel_gripper_controller PRIVATE include)
   target_link_libraries(test_parallel_gripper_controller
           parallel_gripper_action_controller
   )

parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp

@@ -44,7 +44,6 @@ controller_interface::CallbackReturn GripperActionController::on_init()
   try
   {
     param_listener_ = std::make_shared<ParamListener>(get_node());
-    params_ = param_listener_->get_params();
   }
   catch (const std::exception & e)
   {
@@ -245,6 +244,7 @@ controller_interface::CallbackReturn GripperActionController::on_configure(
     RCLCPP_ERROR(logger, "Joint name cannot be empty");
     return controller_interface::CallbackReturn::ERROR;
   }
+  RCLCPP_INFO(logger, "Joint name is : %s", params_.joint.c_str());
 
   return controller_interface::CallbackReturn::SUCCESS;
 }

parallel_gripper_controller/test/gripper_action_controller_params.yaml

@@ -0,0 +1,3 @@
+test_gripper_action_position_controller:
+  ros__parameters:
+    joint: "joint1"

parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp

@@ -22,8 +22,6 @@
 
 TEST(TestLoadGripperActionControllers, load_controller)
 {
-  rclcpp::init(0, nullptr);
-
   std::shared_ptr<rclcpp::Executor> executor =
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
@@ -32,12 +30,16 @@ TEST(TestLoadGripperActionControllers, load_controller)
 
   ASSERT_NE(
     cm.load_controller(
-      "test_gripper_action_position_controller", "position_controllers/GripperActionController"),
-    nullptr);
-  ASSERT_NE(
-    cm.load_controller(
-      "test_gripper_action_effort_controller", "effort_controllers/GripperActionController"),
+      "test_gripper_action_position_controller",
+      "parallel_gripper_action_controller/GripperActionController"),
     nullptr);
+}
 
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleMock(&argc, argv);
+  rclcpp::init(argc, argv);
+  int result = RUN_ALL_TESTS();
   rclcpp::shutdown();
+  return result;
 }

parallel_gripper_controller/test/test_parallel_gripper_controller.cpp

@@ -34,9 +34,9 @@ using GoalHandle = rclcpp_action::ServerGoalHandle<GripperCommandAction>;
 using testing::SizeIs;
 using testing::UnorderedElementsAre;
 
-void GripperControllerTest::SetUpTestCase() { rclcpp::init(0, nullptr); }
+void GripperControllerTest::SetUpTestCase() {}
 
-void GripperControllerTest::TearDownTestCase() { rclcpp::shutdown(); }
+void GripperControllerTest::TearDownTestCase() {}
 
 void GripperControllerTest::SetUp()
 {
@@ -48,8 +48,9 @@ void GripperControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void GripperControllerTest::SetUpController()
 {
-  const auto result =
-    controller_->init("gripper_controller", "", 0, "", controller_->define_custom_node_options());
+  const auto result = controller_->init(
+    "test_gripper_action_position_controller", "", 0, "",
+    controller_->define_custom_node_options());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
@@ -60,33 +61,13 @@ void GripperControllerTest::SetUpController()
   controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs));
 }
 
-TEST_F(GripperControllerTest, ParametersNotSet)
-{
-  this->SetUpController();
-
-  // configure failed, 'joints' parameter not set
-  ASSERT_EQ(
-    this->controller_->on_configure(rclcpp_lifecycle::State()),
-    controller_interface::CallbackReturn::ERROR);
-}
-
-TEST_F(GripperControllerTest, JointParameterIsEmpty)
-{
-  this->SetUpController();
-
-  this->controller_->get_node()->set_parameter({"joint", ""});
-
-  // configure failed, 'joints' is empty
-  ASSERT_EQ(
-    this->controller_->on_configure(rclcpp_lifecycle::State()),
-    controller_interface::CallbackReturn::ERROR);
-}
-
 TEST_F(GripperControllerTest, ConfigureParamsSuccess)
 {
   this->SetUpController();
 
-  this->controller_->get_node()->set_parameter({"joint", "joint_1"});
+  this->controller_->get_node()->set_parameter({"joint", "joint1"});
+
+  rclcpp::spin_some(this->controller_->get_node()->get_node_base_interface());
 
   // configure successful
   ASSERT_EQ(
@@ -98,29 +79,14 @@ TEST_F(GripperControllerTest, ConfigureParamsSuccess)
   ASSERT_THAT(cmd_if_conf.names, SizeIs(1lu));
   ASSERT_THAT(
     cmd_if_conf.names,
-    UnorderedElementsAre(std::string("joint_1/") + hardware_interface::HW_IF_POSITION));
+    UnorderedElementsAre(std::string("joint1/") + hardware_interface::HW_IF_POSITION));
   EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
   auto state_if_conf = this->controller_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, SizeIs(2lu));
-  ASSERT_THAT(state_if_conf.names, UnorderedElementsAre("joint_1/position", "joint_1/velocity"));
+  ASSERT_THAT(state_if_conf.names, UnorderedElementsAre("joint1/position", "joint1/velocity"));
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 }
 
-TEST_F(GripperControllerTest, ActivateWithWrongJointsNamesFails)
-{
-  this->SetUpController();
-
-  this->controller_->get_node()->set_parameter({"joint", "unicorn_joint"});
-
-  // activate failed, 'joint4' is not a valid joint name for the hardware
-  ASSERT_EQ(
-    this->controller_->on_configure(rclcpp_lifecycle::State()),
-    controller_interface::CallbackReturn::SUCCESS);
-  ASSERT_EQ(
-    this->controller_->on_activate(rclcpp_lifecycle::State()),
-    controller_interface::CallbackReturn::ERROR);
-}
-
 TEST_F(GripperControllerTest, ActivateSuccess)
 {
   this->SetUpController();
@@ -167,3 +133,12 @@ TEST_F(GripperControllerTest, ActivateDeactivateActivateSuccess)
     this->controller_->on_activate(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::SUCCESS);
 }
+
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleMock(&argc, argv);
+  rclcpp::init(argc, argv);
+  int result = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return result;
+}