From 8bd416ceb21a390f3cace5cfcef2d8cc47339e59 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <denis@stoglrobotics.de>
Date: Wed, 14 Jun 2023 21:35:49 +0200
Subject: [PATCH] Adding output to test so they would not fail.

---
 hardware_interface/test/test_components/test_system.cpp | 3 +++
 hardware_interface/test/test_resource_manager.cpp       | 6 +++++-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/hardware_interface/test/test_components/test_system.cpp b/hardware_interface/test/test_components/test_system.cpp
index 73659ca506..f198e057da 100644
--- a/hardware_interface/test/test_components/test_system.cpp
+++ b/hardware_interface/test/test_components/test_system.cpp
@@ -19,6 +19,8 @@
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 
+#include "rcutils/logging_macros.h"
+
 using hardware_interface::CommandInterface;
 using hardware_interface::return_type;
 using hardware_interface::StateInterface;
@@ -54,6 +56,7 @@ class TestSystem : public SystemInterface
 
   std::vector<CommandInterface> export_command_interfaces() override
   {
+    RCUTILS_LOG_INFO_NAMED("test_system", "Exporting configuration interfaces.");
     std::vector<CommandInterface> command_interfaces;
     for (auto i = 0u; i < info_.joints.size(); ++i)
     {
diff --git a/hardware_interface/test/test_resource_manager.cpp b/hardware_interface/test/test_resource_manager.cpp
index f2f81fbd80..12cc597dc7 100644
--- a/hardware_interface/test/test_resource_manager.cpp
+++ b/hardware_interface/test/test_resource_manager.cpp
@@ -178,7 +178,7 @@ TEST_F(ResourceManagerTest, initialization_with_urdf_manual_validation)
   EXPECT_TRUE(rm.command_interface_exists("joint3/velocity"));
 }
 
-TEST_F(ResourceManagerTest, initialization_with_wrong_urdf)
+TEST_F(ResourceManagerTest, when_missing_state_keys_expect_hw_initialization_fails)
 {
   // missing state keys
   {
@@ -187,6 +187,10 @@ TEST_F(ResourceManagerTest, initialization_with_wrong_urdf)
         ros2_control_test_assets::minimal_robot_missing_state_keys_urdf),
       std::exception);
   }
+}
+
+TEST_F(ResourceManagerTest, when_missing_command_keys_expect_hw_initialization_fails)
+{
   // missing command keys
   {
     EXPECT_THROW(