Merge branch 'master' into hw-components-initial-state

controller_manager/src/controller_manager.cpp

@@ -203,16 +203,17 @@ void ControllerManager::subscribe_to_robot_description_topic()
 {
   // set QoS to transient local to get messages that have already been published
   // (if robot state publisher starts before controller manager)
-  RCLCPP_INFO(
-    get_logger(), "Subscribing to '~/robot_description' topic for robot description file.");
   robot_description_subscription_ = create_subscription<std_msgs::msg::String>(
     "~/robot_description", rclcpp::QoS(1).transient_local(),
     std::bind(&ControllerManager::robot_description_callback, this, std::placeholders::_1));
+  RCLCPP_INFO(
+    get_logger(), "Subscribing to '%s' topic for robot description.",
+    robot_description_subscription_->get_topic_name());
 }
 
 void ControllerManager::robot_description_callback(const std_msgs::msg::String & robot_description)
 {
-  RCLCPP_INFO(get_logger(), "Received robot description file.");
+  RCLCPP_INFO(get_logger(), "Received robot description from topic.");
   RCLCPP_DEBUG(
     get_logger(), "'Content of robot description file: %s", robot_description.data.c_str());
   // TODO(Manuel): errors should probably be caught since we don't want controller_manager node

hardware_interface/CMakeLists.txt

@@ -80,6 +80,10 @@ if(BUILD_TESTING)
   target_include_directories(test_macros PRIVATE include)
   ament_target_dependencies(test_macros rcpputils)
 
+  ament_add_gmock(test_inst_hardwares test/test_inst_hardwares.cpp)
+  target_link_libraries(test_inst_hardwares hardware_interface)
+  ament_target_dependencies(test_inst_hardwares rcpputils)
+
   ament_add_gmock(test_joint_handle test/test_handle.cpp)
   target_link_libraries(test_joint_handle hardware_interface)
   ament_target_dependencies(test_joint_handle rcpputils)

hardware_interface/include/hardware_interface/system.hpp

@@ -35,6 +35,8 @@ class SystemInterface;
 class System final
 {
 public:
+  System() = default;
+
   HARDWARE_INTERFACE_PUBLIC
   explicit System(std::unique_ptr<SystemInterface> impl);
 

hardware_interface/test/test_inst_hardwares.cpp

@@ -0,0 +1,34 @@
+// Copyright 2023 LAAS CNRS
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gmock/gmock.h>
+
+#include "hardware_interface/actuator.hpp"
+#include "hardware_interface/actuator_interface.hpp"
+#include "hardware_interface/sensor.hpp"
+#include "hardware_interface/sensor_interface.hpp"
+#include "hardware_interface/system.hpp"
+#include "hardware_interface/system_interface.hpp"
+
+class TestInstantiationHardwares : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase() {}
+};
+
+TEST_F(TestInstantiationHardwares, build_actuator) { hardware_interface::Actuator anActuator; }
+
+TEST_F(TestInstantiationHardwares, build_sensor) { hardware_interface::Sensor aSensor; }
+
+TEST_F(TestInstantiationHardwares, build_system) { hardware_interface::System aSystem; }

ros2controlcli/ros2controlcli/verb/list_hardware_components.py

@@ -40,15 +40,17 @@ def main(self, *, args):
 
             for idx, component in enumerate(hardware_components.component):
                 print(
-                    f"Hardware Component {idx}\n\tname: {component.name}\n\ttype: {component.type}"
+                    f"Hardware Component {idx+1}\n\tname: {component.name}\n\ttype: {component.type}"
                 )
                 if hasattr(component, "plugin_name"):
                     plugin_name = component.plugin_name
                 else:
                     plugin_name = f"{bcolors.WARNING}plugin name missing!{bcolors.ENDC}"
 
                 print(
-                    f"\tplugin name: {plugin_name}\n\tstate: id={component.state.id} label={component.state.label}\n\tcommand interfaces"
+                    f"\tplugin name: {plugin_name}\n"
+                    f"\tstate: id={component.state.id} label={component.state.label}\n"
+                    f"\tcommand interfaces"
                 )
                 for cmd_interface in component.command_interfaces:
                     if cmd_interface.is_available: