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Fix tests for using new get_node_options API #840

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Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
3 changes: 2 additions & 1 deletion diff_drive_controller/test/test_diff_drive_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -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);
}

Expand Down
4 changes: 3 additions & 1 deletion doc/writing_new_controller.rst
Original file line number Diff line number Diff line change
Expand Up @@ -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)**
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
3 changes: 2 additions & 1 deletion gripper_controllers/test/test_gripper_controllers.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
3 changes: 2 additions & 1 deletion imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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});
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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_; }
Expand All @@ -179,6 +183,7 @@ class TestableJointTrajectoryController
}

rclcpp::WaitSet joint_cmd_sub_wait_set_;
rclcpp::NodeOptions node_options_;
};

class TrajectoryControllerTest : public ::testing::Test
Expand Down Expand Up @@ -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(
Expand Down
4 changes: 3 additions & 1 deletion pid_controller/test/test_pid_controller.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -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());
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
3 changes: 2 additions & 1 deletion tricycle_controller/test/test_tricycle_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -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);
}

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
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