Extend controller templates with additional tests (StoglRobotics#13)

Robotgir · May 1, 2021 · df10cb4 · df10cb4
1 parent 949648b
commit df10cb4
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Showing 17 changed files with 765 additions and 283 deletions.
diff --git a/scripts/create-new-package.bash b/scripts/create-new-package.bash
@@ -96,7 +96,7 @@ read -p "If correct press <ENTER>, otherwise <CTRL>+C and start the script again
 
 
 if [[ $ros_version == 1 ]]; then
-  catkin_create_pkg $CREATE_PARAMS $PKG_NAME -V 0.0.1 -l $LICENSE -D "$PKG_DESCRIPTION"
+  catkin_create_pkg $CREATE_PARAMS $PKG_NAME -V 0.0.1 -l "$LICENSE" -D "$PKG_DESCRIPTION"
   catkin b -c
   source ~/.bashrc
 elif [[ $ros_version == 2 ]]; then

diff --git a/scripts/ros2_control/setup-controller-package.bash b/scripts/ros2_control/setup-controller-package.bash
@@ -18,7 +18,7 @@ usage="setup-controller-package.bash FILE_NAME [CLASS_NAME] [PKG_NAME]"
 
 # echo ""
 # echo "Your path is `pwd`. Is this your package folder where to setup robot's bringup?"
-# read -p "If so press <ENTER> otherise <CTRL>+C and start the script again from the bringup folder."
+# read -p "If so press <ENTER> otherwise <CTRL>+C and start the script again from the bringup folder."
 
 # Load Framework defines
 script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
@@ -30,7 +30,7 @@ if [ -z "$1" ]; then
   print_and_exit "ERROR: You should provide the file name!" "$usage"
 fi
 if [ -f src/$FILE_NAME.cpp ]; then
-  print_and_exit "ERROR:The file '$FILE_NAME' alread exist!" "$usage"
+  print_and_exit "ERROR:The file '$FILE_NAME' already exist!" "$usage"
 fi
 
 CLASS_NAME=$2
@@ -81,7 +81,7 @@ package_configured=${package_configured:="no"}
 echo ""
 echo "ATTENTION: Setting up ros2_control controller files with following parameters: file name '$FILE_NAME', class '$CLASS_NAME', package/namespace '$PKG_NAME'. Those will be placed in folder '`pwd`'."
 echo ""
-read -p "If correct press <ENTER>, otherwise <CTRL>+C and start the script again from the package folder and/or with correct robot name."
+read -p "If correct press <ENTER>, otherwise <CTRL>+C and start the script again from the package folder and/or with correct controller name."
 
 # Add folders if deleted
 ADD_FOLDERS=("include/$PKG_NAME" "src" "test")
@@ -95,7 +95,9 @@ VC_H="include/$PKG_NAME/visibility_control.h"
 CTRL_HPP="include/$PKG_NAME/$FILE_NAME.hpp"
 CTRL_CPP="src/$FILE_NAME.cpp"
 PLUGIN_XML="$PKG_NAME.xml"
-TEST_CPP="test/test_load_$FILE_NAME.cpp"
+LOAD_TEST_CPP="test/test_load_$FILE_NAME.cpp"
+TEST_CPP="test/test_$FILE_NAME.cpp"
+TEST_HPP="test/test_$FILE_NAME.hpp"
 
 # Copy files
 if [[ ! -f "$VC_H" ]]; then
@@ -104,18 +106,16 @@ fi
 cat $ROS2_CONTROL_CONTROLLER_TEMPLATES/controller_pluginlib.xml >> $PLUGIN_XML
 cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/controller.hpp $CTRL_HPP
 cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/controller.cpp $CTRL_CPP
-cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_load_controller.cpp $TEST_CPP
+cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_load_controller.cpp $LOAD_TEST_CPP
+cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_controller.cpp $TEST_CPP
+cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_controller.hpp $TEST_HPP
 
 echo "Template files copied."
 
 # TODO(anyone): fuse this with hardware interface package creating.
 
 # Add license header to the files
-# TODO: When Propiatery then add the follwing before ament_lint_auto_find_test_dependencies()
-# list(APPEND AMENT_LINT_AUTO_EXCLUDE
-#    ament_cmake_copyright
-#  )
-FILES_TO_LICENSE=("$CTRL_HPP" "$CTRL_CPP" "$TEST_CPP")
+FILES_TO_LICENSE=("$CTRL_HPP" "$CTRL_CPP" "$LOAD_TEST_CPP" "$TEST_CPP" "$TEST_HPP")
 if [[ "$package_configured" == "no" ]]; then
   FILES_TO_LICENSE+=("$VC_H")
 fi
@@ -174,17 +174,20 @@ echo ")" >> $TMP_FILE
 echo "target_include_directories(" >> $TMP_FILE
 echo "  $PKG_NAME" >> $TMP_FILE
 echo "  PUBLIC" >> $TMP_FILE
-echo "  include" >> $TMP_FILE
+echo "  $<BUILD_INTERFACE:\${CMAKE_CURRENT_SOURCE_DIR}/include>" >> $TMP_FILE
+echo "  $<INSTALL_INTERFACE:include>" >> $TMP_FILE
 echo ")" >> $TMP_FILE
 
 # TODO(anyone): Add this dependencies in a loop
 echo "ament_target_dependencies(" >> $TMP_FILE
 echo "  $PKG_NAME" >> $TMP_FILE
+echo "  control_msgs" >> $TMP_FILE
 echo "  controller_interface" >> $TMP_FILE
 echo "  hardware_interface" >> $TMP_FILE
 echo "  pluginlib" >> $TMP_FILE
 echo "  rclcpp" >> $TMP_FILE
 echo "  rclcpp_lifecycle" >> $TMP_FILE
+echo "  realtime_tools" >> $TMP_FILE
 echo ")" >> $TMP_FILE
 
 # TODO(anyone): Delete after Foxy!!!
@@ -223,14 +226,25 @@ END_TEST_LINE=`tail -n +$TEST_LINE CMakeLists.txt | awk '$1 == "endif()" { print
 let CUT_LINE=$END_TEST_LINE-1
 tail -n +$TEST_LINE CMakeLists.txt | head -$CUT_LINE >> $TMP_FILE
 
+echo "" >> $TMP_FILE
+echo "  ament_add_gmock(test_load_$FILE_NAME $LOAD_TEST_CPP)" >> $TMP_FILE
+echo "  target_include_directories(test_load_$FILE_NAME PRIVATE include)" >> $TMP_FILE
+echo "  ament_target_dependencies(" >> $TMP_FILE
+echo "    test_load_$FILE_NAME" >> $TMP_FILE
+echo "    controller_manager" >> $TMP_FILE
+echo "    hardware_interface" >> $TMP_FILE
+echo "    ros2_control_test_assets" >> $TMP_FILE
+echo "  )" >> $TMP_FILE
+echo ""
+
 echo "" >> $TMP_FILE
 echo "  ament_add_gmock(test_$FILE_NAME $TEST_CPP)" >> $TMP_FILE
 echo "  target_include_directories(test_$FILE_NAME PRIVATE include)" >> $TMP_FILE
+echo "  target_link_libraries(test_$FILE_NAME $FILE_NAME)" >> $TMP_FILE
 echo "  ament_target_dependencies(" >> $TMP_FILE
 echo "    test_$FILE_NAME" >> $TMP_FILE
-echo "    controller_manager" >> $TMP_FILE
+echo "    controller_interface" >> $TMP_FILE
 echo "    hardware_interface" >> $TMP_FILE
-echo "    ros2_control_test_assets" >> $TMP_FILE
 echo "  )" >> $TMP_FILE
 echo ""
 
@@ -250,11 +264,13 @@ if [[ "$package_configured" == "no" ]]; then
 
   # TODO(anyone): use this from a list so its the same as above
   echo "ament_export_dependencies(" >> $TMP_FILE
+  echo "  control_msgs" >> $TMP_FILE
   echo "  controller_interface" >> $TMP_FILE
   echo "  hardware_interface" >> $TMP_FILE
   echo "  pluginlib" >> $TMP_FILE
   echo "  rclcpp" >> $TMP_FILE
   echo "  rclcpp_lifecycle" >> $TMP_FILE
+  echo "  realtime_tools" >> $TMP_FILE
   echo ")" >> $TMP_FILE
 
 fi
@@ -266,7 +282,7 @@ tail -n +$TEST_LINE CMakeLists.txt | tail -n +$CUT_LINE >> $TMP_FILE
 mv $TMP_FILE CMakeLists.txt
 
 # CMakeLists.txt & package.xml: Add dependencies if they not exist
-DEP_PKGS=("rclcpp_lifecycle" "rclcpp" "pluginlib" "hardware_interface" "controller_interface")
+DEP_PKGS=("realtime_tools" "rclcpp_lifecycle" "rclcpp" "pluginlib" "hardware_interface" "controller_interface" "control_msgs")
 
 for DEP_PKG in "${DEP_PKGS[@]}"; do
 
@@ -310,6 +326,10 @@ for DEP_PKG in "${TEST_DEP_PKGS[@]}"; do
   fi
 done
 
+# Remove lint dependencies because they should be not included into build
+sed -i "/ament_lint_auto_find_test_dependencies()/d" CMakeLists.txt
+sed -i "/<test_depend>ament_lint_common<\/test_depend>/d" package.xml
+
 # extend README with general instructions
 if [ -f README.md ]; then
 
@@ -323,40 +343,10 @@ fi
 git add .
 # git commit -m "RosTeamWS: ros2_control skeleton files for $ROBOT_NAME generated."
 
-ament_uncrustify --reformat
+# ament_uncrustify --reformat
 
 # Compile and add new package the to the path
 compile_and_source_package $PKG_NAME "yes"
 
 echo ""
 echo "FINISHED: Your package is set and the tests should be finished without any errors."
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diff --git a/scripts/ros2_control/setup-hardware-interface-package.bash b/scripts/ros2_control/setup-hardware-interface-package.bash
@@ -18,7 +18,7 @@ usage="setup-robot-ros2-control-hardware.bash FILE_NAME [CLASS_NAME] [PKG_NAME]"
 
 # echo ""
 # echo "Your path is `pwd`. Is this your package folder where to setup robot's bringup?"
-# read -p "If so press <ENTER> otherise <CTRL>+C and start the script again from the bringup folder."
+# read -p "If so press <ENTER> otherwise <CTRL>+C and start the script again from the bringup folder."
 
 # Load Framework defines
 script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
@@ -30,7 +30,7 @@ if [ -z "$1" ]; then
   print_and_exit "ERROR: You should provide the file name!" "$usage"
 fi
 if [ -f src/$FILE_NAME.cpp ]; then
-  print_and_exit "ERROR:The file '$FILE_NAME' alread exist!" "$usage"
+  print_and_exit "ERROR:The file '$FILE_NAME' already exist!" "$usage"
 fi
 
 CLASS_NAME=$2
@@ -120,7 +120,7 @@ cp -n $ROS2_CONTROL_HW_ITF_TEMPLATES/test_robot_hardware_interface.cpp $TEST_CPP
 echo "Template files copied."
 
 # Add license header to the files
-# TODO: When Propiatery then add the follwing before ament_lint_auto_find_test_dependencies()
+# TODO: When Propiatery then add the following before ament_lint_auto_find_test_dependencies()
 # list(APPEND AMENT_LINT_AUTO_EXCLUDE
 #    ament_cmake_copyright
 #  )
@@ -322,33 +322,3 @@ compile_and_source_package $PKG_NAME "yes"
 
 echo ""
 echo "FINISHED: Your package is set and the tests should be finished without any errors."
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