fix(components): add missing test case (#181)

aica-technology · Dec 9, 2024 · b378d9a · b378d9a
1 parent dec18cd
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Showing 4 changed files with 26 additions and 2 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -26,6 +26,7 @@ Release Versions:
  - feat(controllers): add TF broadcaster in BaseControllerInterface (#170)
  - test(controllers): add TF listener and broadcaster tests (#172)
  - feat(components): get clproto message type from attribute (#175)
+ - fix(components): add missing test case (#181)
 
 ## 5.0.2
 

diff --git a/source/modulo_components/test/python/conftest.py b/source/modulo_components/test/python/conftest.py
@@ -79,7 +79,8 @@ def publish(self):
 
         component = component_type("minimal_sensor_output")
         component._output = random_sensor
-        component.add_output("sensor_state", "_output", JointState, default_topic=topic, publish_on_step=publish_on_step)
+        component.add_output("sensor_state", "_output", JointState,
+                             default_topic=topic, publish_on_step=publish_on_step)
         component.publish = publish.__get__(component)
         return component
 

diff --git a/source/modulo_components/test/python/test_lifecycle_component_communication.py b/source/modulo_components/test/python/test_lifecycle_component_communication.py
@@ -48,6 +48,29 @@ def test_input_output_manual(ros_exec, make_lifecycle_change_client, random_pose
     assert random_pose.dist(minimal_cartesian_input.input) < 1e-3
 
 
+@pytest.mark.parametrize("minimal_sensor_input", [[LifecycleComponent, "/topic"]], indirect=True)
+@pytest.mark.parametrize("minimal_sensor_output", [[LifecycleComponent, "/topic", False]], indirect=True)
+def test_input_output_manual_sensor(
+        ros_exec, make_lifecycle_change_client, random_sensor, minimal_sensor_output, minimal_sensor_input):
+    input_change_client = make_lifecycle_change_client("minimal_sensor_input")
+    output_change_client = make_lifecycle_change_client("minimal_sensor_output")
+    ros_exec.add_node(input_change_client)
+    ros_exec.add_node(output_change_client)
+    ros_exec.add_node(minimal_sensor_input)
+    ros_exec.add_node(minimal_sensor_output)
+    input_change_client.configure(ros_exec)
+    output_change_client.configure(ros_exec)
+    input_change_client.activate(ros_exec)
+    output_change_client.activate(ros_exec)
+    ros_exec.spin_until_future_complete(minimal_sensor_input.received_future, timeout_sec=0.5)
+    assert not minimal_sensor_input.received_future.done()
+    minimal_sensor_output.publish()
+    ros_exec.spin_until_future_complete(minimal_sensor_input.received_future, timeout_sec=0.5)
+    assert minimal_sensor_input.received_future.done() and minimal_sensor_input.received_future.result()
+    for key in random_sensor.get_fields_and_field_types().keys():
+        assert getattr(random_sensor, key) == getattr(minimal_sensor_input.input, key)
+
+
 @pytest.mark.parametrize("minimal_cartesian_input", [[LifecycleComponent, "/topic"]], indirect=True)
 @pytest.mark.parametrize("minimal_joint_output", [[LifecycleComponent, "/topic", True]], indirect=True)
 def test_input_output_invalid_type(ros_exec, minimal_joint_output, minimal_cartesian_input):

diff --git a/source/modulo_controllers/package.xml b/source/modulo_controllers/package.xml
@@ -11,7 +11,6 @@
 
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>
-  <depend>kdl_parser</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>