Add test_depend on hardware_interface_testing (#1018)

(cherry picked from commit 8bf379b) # Conflicts: # pid_controller/package.xml
ros-controls · Feb 5, 2024 · c4afa80 · c4afa80
1 parent 2ac7bb2
commit c4afa80
Show file tree

Hide file tree

Showing 22 changed files with 66 additions and 2 deletions.
diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -26,6 +26,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>hardware_interface</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 

diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml
@@ -34,6 +34,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>kinematics_interface_kdl</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
@@ -27,6 +27,7 @@
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
   <test_depend>hardware_interface</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/diff_drive_controller/test/test_load_diff_drive_controller.cpp b/diff_drive_controller/test/test_load_diff_drive_controller.cpp
@@ -16,6 +16,9 @@
 #include <memory>
 
 #include "controller_manager/controller_manager.hpp"
+#include "hardware_interface/resource_manager.hpp"
+#include "rclcpp/executor.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp/utilities.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
 

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -17,6 +17,8 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
+  <test_depend>hardware_interface</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/effort_controllers/test/test_load_joint_group_effort_controller.cpp b/effort_controllers/test/test_load_joint_group_effort_controller.cpp
@@ -17,7 +17,9 @@
 
 #include "controller_manager/controller_manager.hpp"
 #include "hardware_interface/resource_manager.hpp"
+#include "rclcpp/executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/utilities.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
 
 TEST(TestLoadJointGroupVelocityController, load_controller)

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml
@@ -23,6 +23,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -22,6 +22,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -27,6 +27,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/gripper_controllers/test/test_load_gripper_action_controllers.cpp b/gripper_controllers/test/test_load_gripper_action_controllers.cpp
@@ -17,7 +17,9 @@
 
 #include "controller_manager/controller_manager.hpp"
 #include "hardware_interface/resource_manager.hpp"
+#include "rclcpp/executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/utilities.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
 
 TEST(TestLoadGripperActionControllers, load_controller)

diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml
@@ -25,6 +25,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -25,6 +25,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>hardware_interface</test_depend>
   <test_depend>rclcpp</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -28,6 +28,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/pid_controller/package.xml b/pid_controller/package.xml
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>pid_controller</name>
+  <version>4.5.0</version>
+  <description>Controller based on PID implememenation from control_toolbox package.</description>
+  <maintainer email="[email protected]">Bence Magyar</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <author email="[email protected]">Denis Štogl</author>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>generate_parameter_library</build_depend>
+
+  <depend>angles</depend>
+  <depend>control_msgs</depend>
+  <depend>control_toolbox</depend>
+  <depend>controller_interface</depend>
+  <depend>hardware_interface</depend>
+  <depend>parameter_traits</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>realtime_tools</depend>
+  <depend>std_srvs</depend>
+
+  <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
+  <test_depend>ros2_control_test_assets</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/position_controllers/package.xml b/position_controllers/package.xml
@@ -17,6 +17,8 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
+  <test_depend>hardware_interface</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/position_controllers/test/test_load_joint_group_position_controller.cpp b/position_controllers/test/test_load_joint_group_position_controller.cpp
@@ -17,7 +17,9 @@
 
 #include "controller_manager/controller_manager.hpp"
 #include "hardware_interface/resource_manager.hpp"
+#include "rclcpp/executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/utilities.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
 
 TEST(TestLoadJointGroupPositionController, load_controller)

diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml
@@ -22,7 +22,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
-  <test_depend>hardware_interface</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml
@@ -29,6 +29,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/tricycle_controller/test/test_load_tricycle_controller.cpp b/tricycle_controller/test/test_load_tricycle_controller.cpp
@@ -21,7 +21,9 @@
 
 #include "controller_manager/controller_manager.hpp"
 #include "hardware_interface/resource_manager.hpp"
+#include "rclcpp/executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/utilities.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
 
 TEST(TestLoadTricycleController, load_controller)

diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml
@@ -27,7 +27,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
-  <test_depend>hardware_interface</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml
@@ -17,6 +17,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>hardware_interface</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 

diff --git a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp
@@ -17,7 +17,9 @@
 
 #include "controller_manager/controller_manager.hpp"
 #include "hardware_interface/resource_manager.hpp"
+#include "rclcpp/executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/utilities.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
 
 TEST(TestLoadJointGroupVelocityController, load_controller)