Fix some other stuff.

ros-controls · Jan 15, 2024 · 30a4095 · 30a4095
1 parent 86fdd01
commit 30a4095
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/hardware_interface/test/mock_components/test_generic_system.cpp b/hardware_interface/test/mock_components/test_generic_system.cpp
@@ -1205,7 +1205,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command)
   auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_with_sensor_mock_command_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_sensor_commands(urdf, "GenericSystem2dof");
+  test_generic_system_with_mock_sensor_commands(urdf);
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command_True)
@@ -1214,7 +1214,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command_True)
               hardware_system_2dof_with_sensor_mock_command_True_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_sensor_commands(urdf, "GenericSystem2dof");
+  test_generic_system_with_mock_sensor_commands(urdf);
 }
 
 void TestGenericSystem::test_generic_system_with_mimic_joint(const std::string & urdf)
@@ -1288,7 +1288,7 @@ TEST_F(TestGenericSystem, hardware_system_2dof_with_mimic_joint)
   auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_with_mimic_joint_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mimic_joint(urdf, "GenericSystem2dof");
+  test_generic_system_with_mimic_joint(urdf);
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset)
@@ -1644,7 +1644,7 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_co
               valid_urdf_ros2_control_system_robot_with_gpio_mock_command_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_gpio_commands(urdf, "GenericSystem2dof");
+  test_generic_system_with_mock_gpio_commands(urdf);
 }
 
 TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True)
@@ -1653,7 +1653,7 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_co
               valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_gpio_commands(urdf, "GenericSystem2dof");
+  test_generic_system_with_mock_gpio_commands(urdf);
 }
 
 TEST_F(TestGenericSystem, sensor_with_initial_value)

diff --git a/hardware_interface/test/test_resource_manager_prepare_perform_switch.cpp b/hardware_interface/test/test_resource_manager_prepare_perform_switch.cpp
@@ -20,6 +20,7 @@
 #include <vector>
 
 #include "hardware_interface/loaned_state_interface.hpp"
+#include "lifecycle_msgs/msg/state.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
 
 const auto hardware_resources_command_modes =