Make RHEL CI happy! (#730)

* Make RHEL CI happy! * Use UnorderedElementAre in the assertion Co-authored-by: VX792 <[email protected]> Co-authored-by: Bence Magyar <[email protected]>
ros-controls · Jun 17, 2022 · d632e89 · d632e89
1 parent 6434833
commit d632e89
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Showing 4 changed files with 36 additions and 33 deletions.
diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp
@@ -30,6 +30,7 @@
 
 using ::testing::_;
 using ::testing::Return;
+using ::testing::UnorderedElementsAre;
 
 TEST_F(TestControllerManagerSrvs, list_controller_types)
 {
@@ -93,10 +94,10 @@ TEST_F(TestControllerManagerSrvs, list_controllers_srv)
   ASSERT_TRUE(result->controller[0].claimed_interfaces.empty());
   ASSERT_THAT(
     result->controller[0].required_command_interfaces,
-    testing::ElementsAre("joint1/position", "joint2/velocity"));
+    UnorderedElementsAre("joint1/position", "joint2/velocity"));
   ASSERT_THAT(
     result->controller[0].required_state_interfaces,
-    testing::ElementsAre("joint1/position", "joint1/velocity", "joint2/position"));
+    UnorderedElementsAre("joint1/position", "joint1/velocity", "joint2/position"));
 
   cm_->switch_controller(
     {test_controller::TEST_CONTROLLER_NAME}, {},
@@ -107,13 +108,13 @@ TEST_F(TestControllerManagerSrvs, list_controllers_srv)
   ASSERT_EQ("active", result->controller[0].state);
   ASSERT_THAT(
     result->controller[0].claimed_interfaces,
-    testing::ElementsAre("joint1/position", "joint2/velocity"));
+    UnorderedElementsAre("joint1/position", "joint2/velocity"));
   ASSERT_THAT(
     result->controller[0].required_command_interfaces,
-    testing::ElementsAre("joint1/position", "joint2/velocity"));
+    UnorderedElementsAre("joint1/position", "joint2/velocity"));
   ASSERT_THAT(
     result->controller[0].required_state_interfaces,
-    testing::ElementsAre("joint1/position", "joint1/velocity", "joint2/position"));
+    UnorderedElementsAre("joint1/position", "joint1/velocity", "joint2/position"));
 
   cm_->switch_controller(
     {}, {test_controller::TEST_CONTROLLER_NAME},
@@ -125,10 +126,10 @@ TEST_F(TestControllerManagerSrvs, list_controllers_srv)
   ASSERT_TRUE(result->controller[0].claimed_interfaces.empty());
   ASSERT_THAT(
     result->controller[0].required_command_interfaces,
-    testing::ElementsAre("joint1/position", "joint2/velocity"));
+    UnorderedElementsAre("joint1/position", "joint2/velocity"));
   ASSERT_THAT(
     result->controller[0].required_state_interfaces,
-    testing::ElementsAre("joint1/position", "joint1/velocity", "joint2/position"));
+    UnorderedElementsAre("joint1/position", "joint1/velocity", "joint2/position"));
 
   cmd_cfg = {controller_interface::interface_configuration_type::ALL};
   test_controller->set_command_interface_configuration(cmd_cfg);
@@ -143,17 +144,17 @@ TEST_F(TestControllerManagerSrvs, list_controllers_srv)
   ASSERT_EQ("active", result->controller[0].state);
   ASSERT_THAT(
     result->controller[0].claimed_interfaces,
-    testing::ElementsAre(
+    UnorderedElementsAre(
       "joint2/velocity", "joint3/velocity", "joint2/max_acceleration", "configuration/max_tcp_jerk",
       "joint1/position", "joint1/max_velocity"));
   ASSERT_THAT(
     result->controller[0].required_command_interfaces,
-    testing::ElementsAre(
+    UnorderedElementsAre(
       "configuration/max_tcp_jerk", "joint1/max_velocity", "joint1/position",
       "joint2/max_acceleration", "joint2/velocity", "joint3/velocity"));
   ASSERT_THAT(
     result->controller[0].required_state_interfaces,
-    testing::ElementsAre(
+    UnorderedElementsAre(
       "configuration/max_tcp_jerk", "joint1/position", "joint1/some_unlisted_interface",
       "joint1/velocity", "joint2/acceleration", "joint2/position", "joint2/velocity",
       "joint3/acceleration", "joint3/position", "joint3/velocity", "sensor1/velocity"));
@@ -168,12 +169,12 @@ TEST_F(TestControllerManagerSrvs, list_controllers_srv)
   ASSERT_TRUE(result->controller[0].claimed_interfaces.empty());
   ASSERT_THAT(
     result->controller[0].required_command_interfaces,
-    testing::ElementsAre(
+    UnorderedElementsAre(
       "configuration/max_tcp_jerk", "joint1/max_velocity", "joint1/position",
       "joint2/max_acceleration", "joint2/velocity", "joint3/velocity"));
   ASSERT_THAT(
     result->controller[0].required_state_interfaces,
-    testing::ElementsAre(
+    UnorderedElementsAre(
       "configuration/max_tcp_jerk", "joint1/position", "joint1/some_unlisted_interface",
       "joint1/velocity", "joint2/acceleration", "joint2/position", "joint2/velocity",
       "joint3/acceleration", "joint3/position", "joint3/velocity", "sensor1/velocity"));

diff --git a/controller_manager/test/test_hardware_management_srvs.cpp b/controller_manager/test/test_hardware_management_srvs.cpp
@@ -119,7 +119,7 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
     auto check_interfaces =
       [](
         const std::vector<controller_manager_msgs::msg::HardwareInterface> & interfaces,
-        const std::vector<const char *> & interface_names,
+        const std::vector<std::string> & interface_names,
         const std::vector<bool> is_available_status, const std::vector<bool> is_claimed_status)
     {
       for (auto i = 0ul; i < interfaces.size(); ++i)

diff --git a/hardware_interface/test/test_resource_manager.cpp b/hardware_interface/test/test_resource_manager.cpp
@@ -452,9 +452,9 @@ TEST_F(TestResourceManager, resource_status)
 
   auto check_interfaces = [](
                             const std::vector<std::string> & registered_interfaces,
-                            const std::vector<const char *> & interface_names)
+                            const std::vector<std::string> & interface_names)
   {
-    for (const auto & interface : interface_names)
+    for (const std::string & interface : interface_names)
     {
       auto it = std::find(registered_interfaces.begin(), registered_interfaces.end(), interface);
       EXPECT_NE(it, registered_interfaces.end());
@@ -846,7 +846,7 @@ TEST_F(TestResourceManager, resource_availability_and_claiming_in_lifecycle)
   hardware_interface::ResourceManager rm(ros2_control_test_assets::minimal_robot_urdf);
 
   auto check_interfaces =
-    [](const std::vector<const char *> & interface_names, auto check_method, bool expected_result)
+    [](const std::vector<std::string> & interface_names, auto check_method, bool expected_result)
   {
     for (const auto & interface : interface_names)
     {
@@ -855,8 +855,8 @@ TEST_F(TestResourceManager, resource_availability_and_claiming_in_lifecycle)
   };
 
   auto check_interface_claiming = [&](
-                                    const std::vector<const char *> & state_interface_names,
-                                    const std::vector<const char *> & command_interface_names,
+                                    const std::vector<std::string> & state_interface_names,
+                                    const std::vector<std::string> & command_interface_names,
                                     bool expected_result)
   {
     std::vector<hardware_interface::LoanedStateInterface> states;

diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -16,6 +16,7 @@
 #define ROS2_CONTROL_TEST_ASSETS__DESCRIPTIONS_HPP_
 
 #include <string>
+#include <vector>
 
 namespace ros2_control_test_assets
 {
@@ -414,26 +415,27 @@ const auto minimal_robot_missing_command_keys_urdf =
   std::string(urdf_head) + std::string(hardware_resources_missing_command_keys) +
   std::string(urdf_tail);
 
-[[maybe_unused]] const auto TEST_ACTUATOR_HARDWARE_NAME = "TestActuatorHardware";
-[[maybe_unused]] const auto TEST_ACTUATOR_HARDWARE_TYPE = "actuator";
-[[maybe_unused]] const auto TEST_ACTUATOR_HARDWARE_CLASS_TYPE = "test_actuator";
-[[maybe_unused]] const auto TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES = {
+[[maybe_unused]] const std::string TEST_ACTUATOR_HARDWARE_NAME = "TestActuatorHardware";
+[[maybe_unused]] const std::string TEST_ACTUATOR_HARDWARE_TYPE = "actuator";
+[[maybe_unused]] const std::string TEST_ACTUATOR_HARDWARE_CLASS_TYPE = "test_actuator";
+[[maybe_unused]] const std::vector<std::string> TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES = {
   "joint1/position", "joint1/max_velocity"};
-[[maybe_unused]] const auto TEST_ACTUATOR_HARDWARE_STATE_INTERFACES = {
+[[maybe_unused]] const std::vector<std::string> TEST_ACTUATOR_HARDWARE_STATE_INTERFACES = {
   "joint1/position", "joint1/velocity", "joint1/some_unlisted_interface"};
 
-[[maybe_unused]] const auto TEST_SENSOR_HARDWARE_NAME = "TestSensorHardware";
-[[maybe_unused]] const auto TEST_SENSOR_HARDWARE_TYPE = "sensor";
-[[maybe_unused]] const auto TEST_SENSOR_HARDWARE_CLASS_TYPE = "test_sensor";
-[[maybe_unused]] const auto TEST_SENSOR_HARDWARE_COMMAND_INTERFACES = {""};
-[[maybe_unused]] const auto TEST_SENSOR_HARDWARE_STATE_INTERFACES = {"sensor1/velocity"};
+[[maybe_unused]] const std::string TEST_SENSOR_HARDWARE_NAME = "TestSensorHardware";
+[[maybe_unused]] const std::string TEST_SENSOR_HARDWARE_TYPE = "sensor";
+[[maybe_unused]] const std::string TEST_SENSOR_HARDWARE_CLASS_TYPE = "test_sensor";
+[[maybe_unused]] const std::vector<std::string> TEST_SENSOR_HARDWARE_COMMAND_INTERFACES = {""};
+[[maybe_unused]] const std::vector<std::string> TEST_SENSOR_HARDWARE_STATE_INTERFACES = {
+  "sensor1/velocity"};
 
-[[maybe_unused]] const auto TEST_SYSTEM_HARDWARE_NAME = "TestSystemHardware";
-[[maybe_unused]] const auto TEST_SYSTEM_HARDWARE_TYPE = "system";
-[[maybe_unused]] const auto TEST_SYSTEM_HARDWARE_CLASS_TYPE = "test_system";
-[[maybe_unused]] const auto TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES = {
+[[maybe_unused]] const std::string TEST_SYSTEM_HARDWARE_NAME = "TestSystemHardware";
+[[maybe_unused]] const std::string TEST_SYSTEM_HARDWARE_TYPE = "system";
+[[maybe_unused]] const std::string TEST_SYSTEM_HARDWARE_CLASS_TYPE = "test_system";
+[[maybe_unused]] const std::vector<std::string> TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES = {
   "joint2/velocity", "joint2/max_acceleration", "joint3/velocity", "configuration/max_tcp_jerk"};
-[[maybe_unused]] const auto TEST_SYSTEM_HARDWARE_STATE_INTERFACES = {
+[[maybe_unused]] const std::vector<std::string> TEST_SYSTEM_HARDWARE_STATE_INTERFACES = {
   "joint2/position", "joint2/velocity",     "joint2/acceleration",       "joint3/position",
   "joint3/velocity", "joint3/acceleration", "configuration/max_tcp_jerk"};