Fixed compilation and tests.

ros-controls · Jan 31, 2024 · c1ba8bc · c1ba8bc
1 parent c47ac65
commit c1ba8bc
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Showing 4 changed files with 2 additions and 84 deletions.
diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -150,7 +150,6 @@ if(BUILD_TESTING)
   )
   target_link_libraries(test_controller_manager_urdf_passing
     controller_manager
-    test_controller
     ros2_control_test_assets::ros2_control_test_assets
   )
   ament_target_dependencies(test_controller_manager_urdf_passing

diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
@@ -322,7 +322,7 @@ class ControllerManager : public rclcpp::Node
   std::vector<std::string> get_controller_names();
   std::pair<std::string, std::string> split_command_interface(
     const std::string & command_interface);
-  void init_controller_manager();
+  void subscribe_to_robot_description_topic();
 
   /**
    * Clear request lists used when switching controllers. The lists are shared between "callback"
@@ -546,7 +546,6 @@ class ControllerManager : public rclcpp::Node
 
   std::string robot_description_;
   rclcpp::Subscription<std_msgs::msg::String>::SharedPtr robot_description_subscription_;
-  rclcpp::TimerBase::SharedPtr robot_description_notification_timer_;
 
   struct SwitchParams
   {

diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
@@ -31,7 +31,6 @@ using ::testing::Return;
 using namespace std::chrono_literals;
 class TestLoadController : public ControllerManagerFixture<controller_manager::ControllerManager>
 {
-public:
   void SetUp() override
   {
     ControllerManagerFixture::SetUp();
@@ -275,82 +274,3 @@ TEST_F(TestLoadController, unload_on_kill)
 
   ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul);
 }
-
-class TestLoadControllerWithoutRobotDescription
-: public ControllerManagerFixture<controller_manager::ControllerManager>
-{
-public:
-  TestLoadControllerWithoutRobotDescription()
-  : ControllerManagerFixture<controller_manager::ControllerManager>("")
-  {
-  }
-
-  void SetUp() override
-  {
-    ControllerManagerFixture::SetUp();
-
-    update_timer_ = cm_->create_wall_timer(
-      std::chrono::milliseconds(10),
-      [&]()
-      {
-        cm_->read(time_, PERIOD);
-        cm_->update(time_, PERIOD);
-        cm_->write(time_, PERIOD);
-      });
-
-    update_executor_ =
-      std::make_shared<rclcpp::executors::MultiThreadedExecutor>(rclcpp::ExecutorOptions(), 2);
-
-    update_executor_->add_node(cm_);
-    update_executor_spin_future_ =
-      std::async(std::launch::async, [this]() -> void { update_executor_->spin(); });
-
-    // This sleep is needed to prevent a too fast test from ending before the
-    // executor has began to spin, which causes it to hang
-    std::this_thread::sleep_for(50ms);
-  }
-
-  void TearDown() override { update_executor_->cancel(); }
-
-  rclcpp::TimerBase::SharedPtr robot_description_sending_timer_;
-
-protected:
-  rclcpp::TimerBase::SharedPtr update_timer_;
-
-  // Using a MultiThreadedExecutor so we can call update on a separate thread from service callbacks
-  std::shared_ptr<rclcpp::Executor> update_executor_;
-  std::future<void> update_executor_spin_future_;
-};
-
-TEST_F(TestLoadControllerWithoutRobotDescription, when_no_robot_description_spawner_times_out)
-{
-  cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
-
-  ControllerManagerRunner cm_runner(this);
-  EXPECT_EQ(call_spawner("ctrl_1 -c test_controller_manager"), 1)
-    << "could not spawn controller because not robot description and not services for controller "
-       "manager are active";
-}
-
-TEST_F(
-  TestLoadControllerWithoutRobotDescription,
-  controller_starting_with_later_load_of_robot_description)
-{
-  cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
-
-  // Delay sending robot description
-  robot_description_sending_timer_ = cm_->create_wall_timer(
-    std::chrono::milliseconds(1500), [&]() { pass_robot_description_to_cm_and_rm(); });
-
-  ControllerManagerRunner cm_runner(this);
-  EXPECT_EQ(call_spawner("ctrl_1 -c test_controller_manager"), 1)
-    << "could not activate control because not robot description";
-
-  ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul);
-  {
-    auto ctrl_1 = cm_->get_loaded_controllers()[0];
-    ASSERT_EQ(ctrl_1.info.name, "ctrl_1");
-    ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
-    ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
-  }
-}
diff --git a/hardware_interface_testing/test/test_resource_manager.hpp b/hardware_interface_testing/test/test_resource_manager.hpp
@@ -44,7 +44,7 @@ class TestableResourceManager : public hardware_interface::ResourceManager
 public:
   friend ResourceManagerTest;
 
-  FRIEND_TEST(ResourceManagerTest, initialization_with_urdf_manual_validation);
+  FRIEND_TEST(ResourceManagerTest, initialization_with_urdf_and_manual_validation);
   FRIEND_TEST(ResourceManagerTest, post_initialization_add_components);
   FRIEND_TEST(ResourceManagerTest, managing_controllers_reference_interfaces);
   FRIEND_TEST(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle);