From 991ef48b79a12974a1b37763e818842906e3553b Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Mon, 8 Jul 2024 23:08:20 +0200 Subject: [PATCH] added changes corresponding to the logger and clock propagation in ResourceManager (#1184) --- .../test/test_load_ackermann_steering_controller.cpp | 4 +--- .../test/test_load_admittance_controller.cpp | 4 +--- .../test/test_load_bicycle_steering_controller.cpp | 4 +--- .../test/test_load_diff_drive_controller.cpp | 3 +-- .../test/test_load_joint_group_effort_controller.cpp | 4 +--- .../test/test_load_force_torque_sensor_broadcaster.cpp | 4 +--- .../test/test_load_forward_command_controller.cpp | 4 +--- .../test_load_multi_interface_forward_command_controller.cpp | 4 +--- .../test/test_load_gripper_action_controllers.cpp | 4 +--- .../test/test_load_imu_sensor_broadcaster.cpp | 4 +--- .../test/test_load_joint_state_broadcaster.cpp | 4 +--- .../test/test_load_joint_trajectory_controller.cpp | 4 +--- pid_controller/test/test_load_pid_controller.cpp | 5 ++--- .../test/test_load_joint_group_position_controller.cpp | 4 +--- .../test/test_load_range_sensor_broadcaster.cpp | 4 +--- tricycle_controller/test/test_load_tricycle_controller.cpp | 4 +--- .../test/test_load_tricycle_steering_controller.cpp | 4 +--- .../test/test_load_joint_group_velocity_controller.cpp | 4 +--- 18 files changed, 19 insertions(+), 53 deletions(-) diff --git a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp index 0a8cd7b80c..101ecce8ff 100644 --- a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp +++ b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp @@ -28,9 +28,7 @@ TEST(TestLoadAckermannSteeringController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/admittance_controller/test/test_load_admittance_controller.cpp b/admittance_controller/test/test_load_admittance_controller.cpp index 23be1f23f5..69808f3505 100644 --- a/admittance_controller/test/test_load_admittance_controller.cpp +++ b/admittance_controller/test/test_load_admittance_controller.cpp @@ -29,9 +29,7 @@ TEST(TestLoadAdmittanceController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_EQ( cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"), diff --git a/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp index 955feb33c5..f3828660a5 100644 --- a/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp +++ b/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp @@ -28,9 +28,7 @@ TEST(TestLoadBicycleSteeringController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/diff_drive_controller/test/test_load_diff_drive_controller.cpp b/diff_drive_controller/test/test_load_diff_drive_controller.cpp index 4c9d2f984f..0c65532c38 100644 --- a/diff_drive_controller/test/test_load_diff_drive_controller.cpp +++ b/diff_drive_controller/test/test_load_diff_drive_controller.cpp @@ -28,8 +28,7 @@ TEST(TestLoadDiffDriveController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique(ros2_control_test_assets::diffbot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::diffbot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"), diff --git a/effort_controllers/test/test_load_joint_group_effort_controller.cpp b/effort_controllers/test/test_load_joint_group_effort_controller.cpp index 52f1f9934a..4008ac8534 100644 --- a/effort_controllers/test/test_load_joint_group_effort_controller.cpp +++ b/effort_controllers/test/test_load_joint_group_effort_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupVelocityController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp index 0c269d6a31..2e87505003 100644 --- a/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp +++ b/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp @@ -32,9 +32,7 @@ TEST(TestLoadForceTorqueSensorBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/forward_command_controller/test/test_load_forward_command_controller.cpp b/forward_command_controller/test/test_load_forward_command_controller.cpp index b493e52b2a..c192f1eb5f 100644 --- a/forward_command_controller/test/test_load_forward_command_controller.cpp +++ b/forward_command_controller/test/test_load_forward_command_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadForwardCommandController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp index 41a9b74698..52b63bdae8 100644 --- a/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp +++ b/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp @@ -31,9 +31,7 @@ TEST(TestLoadMultiInterfaceForwardController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/gripper_controllers/test/test_load_gripper_action_controllers.cpp b/gripper_controllers/test/test_load_gripper_action_controllers.cpp index 0ef5f0bcb2..5641e1b4b3 100644 --- a/gripper_controllers/test/test_load_gripper_action_controllers.cpp +++ b/gripper_controllers/test/test_load_gripper_action_controllers.cpp @@ -30,9 +30,7 @@ TEST(TestLoadGripperActionControllers, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp index f4e6105ed6..a477a731ff 100644 --- a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp +++ b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp @@ -32,9 +32,7 @@ TEST(TestLoadIMUSensorBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp index 5efb587805..266e33c1c8 100644 --- a/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointStateBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp index eb1a3691e6..b3635efaca 100644 --- a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp @@ -31,9 +31,7 @@ TEST(TestLoadJointStateController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/pid_controller/test/test_load_pid_controller.cpp b/pid_controller/test/test_load_pid_controller.cpp index 3a75f6e170..ed645b872c 100644 --- a/pid_controller/test/test_load_pid_controller.cpp +++ b/pid_controller/test/test_load_pid_controller.cpp @@ -33,9 +33,8 @@ TEST(TestLoadPidController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NO_THROW(cm.load_controller("test_pid_controller", "pid_controller/PidController")); diff --git a/position_controllers/test/test_load_joint_group_position_controller.cpp b/position_controllers/test/test_load_joint_group_position_controller.cpp index bc27b5e629..950773351c 100644 --- a/position_controllers/test/test_load_joint_group_position_controller.cpp +++ b/position_controllers/test/test_load_joint_group_position_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupPositionController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp index 5c400bef91..1d8a55b932 100644 --- a/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp +++ b/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp @@ -32,9 +32,7 @@ TEST(TestLoadRangeSensorBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/tricycle_controller/test/test_load_tricycle_controller.cpp b/tricycle_controller/test/test_load_tricycle_controller.cpp index bd54459780..bb4194909c 100644 --- a/tricycle_controller/test/test_load_tricycle_controller.cpp +++ b/tricycle_controller/test/test_load_tricycle_controller.cpp @@ -32,9 +32,7 @@ TEST(TestLoadTricycleController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller("test_tricycle_controller", "tricycle_controller/TricycleController"), diff --git a/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp index 0d04afdf38..4fa3698409 100644 --- a/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp @@ -28,9 +28,7 @@ TEST(TestLoadTricycleSteeringController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp index e426349f96..7070594639 100644 --- a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp +++ b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupVelocityController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller(