Skip to content

Commit

Permalink
Merge branch 'master' into cm-fix-calls-to-prepare-and-perform-switch
Browse files Browse the repository at this point in the history
  • Loading branch information
destogl committed Jan 26, 2024
2 parents 369f8a4 + 0bdcd41 commit 44d2ee4
Show file tree
Hide file tree
Showing 16 changed files with 90 additions and 37 deletions.
1 change: 1 addition & 0 deletions .github/workflows/ci-coverage-build.yml
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ jobs:
controller_interface
controller_manager
hardware_interface
hardware_interface_testing
transmission_interface

vcs-repo-file-url: |
Expand Down
2 changes: 2 additions & 0 deletions .github/workflows/ci-ros-lint.yml
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ jobs:
controller_manager
controller_manager_msgs
hardware_interface
hardware_interface_testing
ros2controlcli
ros2_control
ros2_control_test_assets
Expand All @@ -49,6 +50,7 @@ jobs:
controller_manager
controller_manager_msgs
hardware_interface
hardware_interface_testing
ros2controlcli
ros2_control
ros2_control_test_assets
Expand Down
1 change: 1 addition & 0 deletions controller_manager/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
<depend>std_msgs</depend>

<test_depend>ament_cmake_gmock</test_depend>
<test_depend>hardware_interface_testing</test_depend>
<test_depend>ros2_control_test_assets</test_depend>

<export>
Expand Down
23 changes: 0 additions & 23 deletions hardware_interface/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -79,21 +79,6 @@ 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
Expand All @@ -110,14 +95,6 @@ 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)
Expand Down
46 changes: 46 additions & 0 deletions hardware_interface_testing/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -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()
4 changes: 4 additions & 0 deletions hardware_interface_testing/README.md
Original file line number Diff line number Diff line change
@@ -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.
25 changes: 25 additions & 0 deletions hardware_interface_testing/package.xml
Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
<?xml version="1.0"?>
<package format="2">
<name>hardware_interface_testing</name>
<version>0.0.0</version>
<description>ros2_control hardware interface testing</description>
<maintainer email="[email protected]">Bence Magyar</maintainer>
<maintainer email="[email protected]">Denis Štogl</maintainer>
<maintainer email="[email protected]">Christoph Froehlich</maintainer>
<license>Apache License 2.0</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>control_msgs</depend>
<depend>hardware_interface</depend>
<depend>lifecycle_msgs</depend>
<depend>pluginlib</depend>
<depend>rclcpp_lifecycle</depend>
<depend>ros2_control_test_assets</depend>

<test_depend>ament_cmake_gmock</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
6 changes: 3 additions & 3 deletions joint_limits/include/joint_limits/joint_limits_urdf.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,8 @@

/// \author Adolfo Rodriguez Tsouroukdissian

#ifndef JOINT_LIMITS_URDF_HPP
#define JOINT_LIMITS_URDF_HPP
#ifndef JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_
#define JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_

#include "joint_limits/joint_limits.hpp"
#include "urdf_model/joint.h"
Expand Down Expand Up @@ -82,4 +82,4 @@ inline bool getSoftJointLimits(urdf::JointConstSharedPtr urdf_joint, SoftJointLi
return true;
}
} // namespace joint_limits
#endif // JOINT_LIMITS_URDF_HPP
#endif // JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_
19 changes: 8 additions & 11 deletions joint_limits/test/joint_limits_urdf_test.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,6 @@
#include "gtest/gtest.h"

using std::string;
using namespace joint_limits;

class JointLimitsUrdfTest : public ::testing::Test
{
Expand Down Expand Up @@ -53,14 +52,14 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
{
// Unset URDF joint
{
JointLimits limits;
joint_limits::JointLimits limits;
urdf::JointSharedPtr urdf_joint_bad;
EXPECT_FALSE(getJointLimits(urdf_joint_bad, limits));
}

// Unset URDF limits
{
JointLimits limits;
joint_limits::JointLimits limits;
urdf::JointSharedPtr urdf_joint_bad(new urdf::Joint);
EXPECT_FALSE(getJointLimits(urdf_joint_bad, limits));
}
Expand All @@ -69,7 +68,7 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
{
urdf_joint->type = urdf::Joint::CONTINUOUS;

JointLimits limits;
joint_limits::JointLimits limits;
EXPECT_TRUE(getJointLimits(urdf_joint, limits));

// Position
Expand All @@ -92,7 +91,7 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
{
urdf_joint->type = urdf::Joint::REVOLUTE;

JointLimits limits;
joint_limits::JointLimits limits;
EXPECT_TRUE(getJointLimits(urdf_joint, limits));

// Position
Expand All @@ -117,7 +116,7 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
{
urdf_joint->type = urdf::Joint::PRISMATIC;

JointLimits limits;
joint_limits::JointLimits limits;
EXPECT_TRUE(getJointLimits(urdf_joint, limits));

// Position
Expand All @@ -141,25 +140,23 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)

TEST_F(JointLimitsUrdfTest, GetSoftJointLimits)
{
using namespace joint_limits;

// Unset URDF joint
{
SoftJointLimits soft_limits;
joint_limits::SoftJointLimits soft_limits;
urdf::JointSharedPtr urdf_joint_bad;
EXPECT_FALSE(getSoftJointLimits(urdf_joint_bad, soft_limits));
}

// Unset URDF limits
{
SoftJointLimits soft_limits;
joint_limits::SoftJointLimits soft_limits;
urdf::JointSharedPtr urdf_joint_bad(new urdf::Joint);
EXPECT_FALSE(getSoftJointLimits(urdf_joint_bad, soft_limits));
}

// Valid URDF joint
{
SoftJointLimits soft_limits;
joint_limits::SoftJointLimits soft_limits;
EXPECT_TRUE(getSoftJointLimits(urdf_joint, soft_limits));

// Soft limits
Expand Down

0 comments on commit 44d2ee4

Please sign in to comment.