diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
index 5cea0f1538..2d2e930887 100644
--- a/.github/workflows/ci-coverage-build.yml
+++ b/.github/workflows/ci-coverage-build.yml
@@ -30,6 +30,7 @@ jobs:
controller_interface
controller_manager
hardware_interface
+ hardware_interface_testing
transmission_interface
vcs-repo-file-url: |
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
index 06ada46e49..d563d313db 100644
--- a/.github/workflows/ci-ros-lint.yml
+++ b/.github/workflows/ci-ros-lint.yml
@@ -24,6 +24,7 @@ jobs:
controller_manager
controller_manager_msgs
hardware_interface
+ hardware_interface_testing
ros2controlcli
ros2_control
ros2_control_test_assets
@@ -49,6 +50,7 @@ jobs:
controller_manager
controller_manager_msgs
hardware_interface
+ hardware_interface_testing
ros2controlcli
ros2_control
ros2_control_test_assets
diff --git a/controller_manager/package.xml b/controller_manager/package.xml
index 9ccfda0269..cbfa345e2a 100644
--- a/controller_manager/package.xml
+++ b/controller_manager/package.xml
@@ -29,6 +29,7 @@
std_msgs
ament_cmake_gmock
+ hardware_interface_testing
ros2_control_test_assets
diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
index ecb4f794c7..f198ebc012 100644
--- a/hardware_interface/CMakeLists.txt
+++ b/hardware_interface/CMakeLists.txt
@@ -96,21 +96,6 @@ if(BUILD_TESTING)
target_link_libraries(test_component_parser hardware_interface)
ament_target_dependencies(test_component_parser ros2_control_test_assets)
- add_library(test_components SHARED
- test/test_components/test_actuator.cpp
- test/test_components/test_sensor.cpp
- test/test_components/test_system.cpp)
- target_link_libraries(test_components hardware_interface)
- ament_target_dependencies(test_components
- pluginlib
- ros2_control_test_assets
- )
- install(TARGETS test_components
- DESTINATION lib
- )
- pluginlib_export_plugin_description_file(
- hardware_interface test/test_components/test_components.xml)
-
add_library(test_hardware_components SHARED
test/test_hardware_components/test_single_joint_actuator.cpp
test/test_hardware_components/test_force_torque_sensor.cpp
@@ -127,14 +112,6 @@ if(BUILD_TESTING)
hardware_interface test/test_hardware_components/test_hardware_components.xml
)
- ament_add_gmock(test_resource_manager test/test_resource_manager.cpp)
- target_link_libraries(test_resource_manager hardware_interface)
- ament_target_dependencies(test_resource_manager ros2_control_test_assets)
-
- ament_add_gmock(test_resource_manager_prepare_perform_switch test/test_resource_manager_prepare_perform_switch.cpp)
- target_link_libraries(test_resource_manager_prepare_perform_switch hardware_interface)
- ament_target_dependencies(test_resource_manager_prepare_perform_switch ros2_control_test_assets)
-
ament_add_gmock(test_generic_system test/mock_components/test_generic_system.cpp)
target_include_directories(test_generic_system PRIVATE include)
target_link_libraries(test_generic_system hardware_interface)
diff --git a/hardware_interface_testing/CMakeLists.txt b/hardware_interface_testing/CMakeLists.txt
new file mode 100644
index 0000000000..ec6d591dee
--- /dev/null
+++ b/hardware_interface_testing/CMakeLists.txt
@@ -0,0 +1,46 @@
+cmake_minimum_required(VERSION 3.16)
+project(hardware_interface_testing LANGUAGES CXX)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+ add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+ control_msgs
+ hardware_interface
+ lifecycle_msgs
+ pluginlib
+ rclcpp_lifecycle
+ ros2_control_test_assets
+)
+
+find_package(ament_cmake REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+ find_package(${Dependency} REQUIRED)
+endforeach()
+
+add_library(test_components SHARED
+ test/test_components/test_actuator.cpp
+ test/test_components/test_sensor.cpp
+ test/test_components/test_system.cpp
+)
+ament_target_dependencies(test_components hardware_interface pluginlib ros2_control_test_assets)
+install(TARGETS test_components
+ DESTINATION lib
+)
+pluginlib_export_plugin_description_file(
+hardware_interface test/test_components/test_components.xml)
+
+if(BUILD_TESTING)
+ find_package(ament_cmake_gmock REQUIRED)
+
+ ament_add_gmock(test_resource_manager test/test_resource_manager.cpp)
+ ament_target_dependencies(test_resource_manager hardware_interface ros2_control_test_assets)
+
+ ament_add_gmock(test_resource_manager_prepare_perform_switch test/test_resource_manager_prepare_perform_switch.cpp)
+ ament_target_dependencies(test_resource_manager_prepare_perform_switch hardware_interface ros2_control_test_assets)
+
+endif()
+
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()
diff --git a/hardware_interface_testing/README.md b/hardware_interface_testing/README.md
new file mode 100644
index 0000000000..cba28d74a5
--- /dev/null
+++ b/hardware_interface_testing/README.md
@@ -0,0 +1,4 @@
+# hardware_interface_testing
+
+This package contains a set of hardware interfaces and controllers that can be used for other
+packages to test their functionality.
diff --git a/hardware_interface_testing/package.xml b/hardware_interface_testing/package.xml
new file mode 100644
index 0000000000..841c77626f
--- /dev/null
+++ b/hardware_interface_testing/package.xml
@@ -0,0 +1,25 @@
+
+
+ hardware_interface_testing
+ 0.0.0
+ ros2_control hardware interface testing
+ Bence Magyar
+ Denis Štogl
+ Christoph Froehlich
+ Apache License 2.0
+
+ ament_cmake
+
+ control_msgs
+ hardware_interface
+ lifecycle_msgs
+ pluginlib
+ rclcpp_lifecycle
+ ros2_control_test_assets
+
+ ament_cmake_gmock
+
+
+ ament_cmake
+
+
diff --git a/hardware_interface/test/test_components/test_actuator.cpp b/hardware_interface_testing/test/test_components/test_actuator.cpp
similarity index 100%
rename from hardware_interface/test/test_components/test_actuator.cpp
rename to hardware_interface_testing/test/test_components/test_actuator.cpp
diff --git a/hardware_interface/test/test_components/test_components.xml b/hardware_interface_testing/test/test_components/test_components.xml
similarity index 100%
rename from hardware_interface/test/test_components/test_components.xml
rename to hardware_interface_testing/test/test_components/test_components.xml
diff --git a/hardware_interface/test/test_components/test_sensor.cpp b/hardware_interface_testing/test/test_components/test_sensor.cpp
similarity index 100%
rename from hardware_interface/test/test_components/test_sensor.cpp
rename to hardware_interface_testing/test/test_components/test_sensor.cpp
diff --git a/hardware_interface/test/test_components/test_system.cpp b/hardware_interface_testing/test/test_components/test_system.cpp
similarity index 100%
rename from hardware_interface/test/test_components/test_system.cpp
rename to hardware_interface_testing/test/test_components/test_system.cpp
diff --git a/hardware_interface/test/test_resource_manager.cpp b/hardware_interface_testing/test/test_resource_manager.cpp
similarity index 97%
rename from hardware_interface/test/test_resource_manager.cpp
rename to hardware_interface_testing/test/test_resource_manager.cpp
index 7da42df317..e9071f2cf5 100644
--- a/hardware_interface/test/test_resource_manager.cpp
+++ b/hardware_interface_testing/test/test_resource_manager.cpp
@@ -233,73 +233,73 @@ TEST_F(ResourceManagerTest, resource_claiming)
// Activate components to get all interfaces available
activate_components(rm);
- const auto key = "joint1/position";
- EXPECT_TRUE(rm.command_interface_is_available(key));
- EXPECT_FALSE(rm.command_interface_is_claimed(key));
+ const auto command_interface = "joint1/position";
+ EXPECT_TRUE(rm.command_interface_is_available(command_interface));
+ EXPECT_FALSE(rm.command_interface_is_claimed(command_interface));
{
- auto position_command_interface = rm.claim_command_interface(key);
- EXPECT_TRUE(rm.command_interface_is_available(key));
- EXPECT_TRUE(rm.command_interface_is_claimed(key));
+ auto position_command_interface = rm.claim_command_interface(command_interface);
+ EXPECT_TRUE(rm.command_interface_is_available(command_interface));
+ EXPECT_TRUE(rm.command_interface_is_claimed(command_interface));
{
- EXPECT_ANY_THROW(rm.claim_command_interface(key));
- EXPECT_TRUE(rm.command_interface_is_available(key));
+ EXPECT_ANY_THROW(rm.claim_command_interface(command_interface));
+ EXPECT_TRUE(rm.command_interface_is_available(command_interface));
}
}
- EXPECT_TRUE(rm.command_interface_is_available(key));
- EXPECT_FALSE(rm.command_interface_is_claimed(key));
+ EXPECT_TRUE(rm.command_interface_is_available(command_interface));
+ EXPECT_FALSE(rm.command_interface_is_claimed(command_interface));
// command interfaces can only be claimed once
- for (const auto & key :
+ for (const auto & interface_key :
{"joint1/position", "joint1/position", "joint1/position", "joint2/velocity",
"joint3/velocity"})
{
{
- auto interface = rm.claim_command_interface(key);
- EXPECT_TRUE(rm.command_interface_is_available(key));
- EXPECT_TRUE(rm.command_interface_is_claimed(key));
+ auto interface = rm.claim_command_interface(interface_key);
+ EXPECT_TRUE(rm.command_interface_is_available(interface_key));
+ EXPECT_TRUE(rm.command_interface_is_claimed(interface_key));
{
- EXPECT_ANY_THROW(rm.claim_command_interface(key));
- EXPECT_TRUE(rm.command_interface_is_available(key));
+ EXPECT_ANY_THROW(rm.claim_command_interface(interface_key));
+ EXPECT_TRUE(rm.command_interface_is_available(interface_key));
}
}
- EXPECT_TRUE(rm.command_interface_is_available(key));
- EXPECT_FALSE(rm.command_interface_is_claimed(key));
+ EXPECT_TRUE(rm.command_interface_is_available(interface_key));
+ EXPECT_FALSE(rm.command_interface_is_claimed(interface_key));
}
// TODO(destogl): This claim test is not true.... can not be...
// state interfaces can be claimed multiple times
- for (const auto & key :
+ for (const auto & interface_key :
{"joint1/position", "joint1/velocity", "sensor1/velocity", "joint2/position",
"joint3/position"})
{
{
- EXPECT_TRUE(rm.state_interface_is_available(key));
- auto interface = rm.claim_state_interface(key);
+ EXPECT_TRUE(rm.state_interface_is_available(interface_key));
+ auto interface = rm.claim_state_interface(interface_key);
{
- EXPECT_TRUE(rm.state_interface_is_available(key));
- EXPECT_NO_THROW(rm.claim_state_interface(key));
+ EXPECT_TRUE(rm.state_interface_is_available(interface_key));
+ EXPECT_NO_THROW(rm.claim_state_interface(interface_key));
}
}
}
std::vector interfaces;
const auto interface_names = {"joint1/position", "joint2/velocity", "joint3/velocity"};
- for (const auto & key : interface_names)
+ for (const auto & interface : interface_names)
{
- EXPECT_TRUE(rm.command_interface_is_available(key));
- interfaces.emplace_back(rm.claim_command_interface(key));
+ EXPECT_TRUE(rm.command_interface_is_available(interface));
+ interfaces.emplace_back(rm.claim_command_interface(interface));
}
- for (const auto & key : interface_names)
+ for (const auto & interface : interface_names)
{
- EXPECT_TRUE(rm.command_interface_is_available(key));
- EXPECT_TRUE(rm.command_interface_is_claimed(key));
+ EXPECT_TRUE(rm.command_interface_is_available(interface));
+ EXPECT_TRUE(rm.command_interface_is_claimed(interface));
}
interfaces.clear();
- for (const auto & key : interface_names)
+ for (const auto & interface : interface_names)
{
- EXPECT_TRUE(rm.command_interface_is_available(key));
- EXPECT_FALSE(rm.command_interface_is_claimed(key));
+ EXPECT_TRUE(rm.command_interface_is_available(interface));
+ EXPECT_FALSE(rm.command_interface_is_claimed(interface));
}
}
diff --git a/hardware_interface/test/test_resource_manager.hpp b/hardware_interface_testing/test/test_resource_manager.hpp
similarity index 100%
rename from hardware_interface/test/test_resource_manager.hpp
rename to hardware_interface_testing/test/test_resource_manager.hpp
diff --git a/hardware_interface/test/test_resource_manager_prepare_perform_switch.cpp b/hardware_interface_testing/test/test_resource_manager_prepare_perform_switch.cpp
similarity index 100%
rename from hardware_interface/test/test_resource_manager_prepare_perform_switch.cpp
rename to hardware_interface_testing/test/test_resource_manager_prepare_perform_switch.cpp