added changes corresponding to the logger and clock propagation in Re…

…sourceManager
ros-controls · Jun 27, 2024 · f5656e8 · f5656e8
1 parent b81be48
commit f5656e8
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Showing 18 changed files with 19 additions and 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
@@ -28,9 +28,7 @@ TEST(TestLoadAckermannSteeringController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -29,9 +29,7 @@ TEST(TestLoadAdmittanceController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -28,9 +28,7 @@ TEST(TestLoadBicycleSteeringController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -28,8 +28,7 @@ TEST(TestLoadDiffDriveController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(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
@@ -30,9 +30,7 @@ TEST(TestLoadJointGroupVelocityController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -32,9 +32,7 @@ TEST(TestLoadForceTorqueSensorBroadcaster, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -30,9 +30,7 @@ TEST(TestLoadForwardCommandController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -31,9 +31,7 @@ TEST(TestLoadMultiInterfaceForwardController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -30,9 +30,7 @@ TEST(TestLoadGripperActionControllers, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -32,9 +32,7 @@ TEST(TestLoadIMUSensorBroadcaster, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -30,9 +30,7 @@ TEST(TestLoadJointStateBroadcaster, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -31,9 +31,7 @@ TEST(TestLoadJointStateController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -33,9 +33,8 @@ TEST(TestLoadPidController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -30,9 +30,7 @@ TEST(TestLoadJointGroupPositionController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -32,9 +32,7 @@ TEST(TestLoadRangeSensorBroadcaster, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -32,9 +32,7 @@ TEST(TestLoadTricycleController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -28,9 +28,7 @@ TEST(TestLoadTricycleSteeringController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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
@@ -30,9 +30,7 @@ TEST(TestLoadJointGroupVelocityController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      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(