Update the use explict parameters for the wheels.

ros-controls · Jun 19, 2024 · a34c665 · a34c665
1 parent 98b1e59
commit a34c665
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Showing 3 changed files with 20 additions and 9 deletions.
diff --git a/mecanum_drive_controller/CMakeLists.txt b/mecanum_drive_controller/CMakeLists.txt
@@ -58,12 +58,12 @@ if(BUILD_TESTING)
   find_package(hardware_interface REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
 
-  ament_add_gmock(test_load_mecanum_drive_controller test/test_load_mecanum_drive_controller.cpp)
-  target_include_directories(test_load_mecanum_drive_controller PRIVATE include)
-  ament_target_dependencies(
-    test_load_mecanum_drive_controller
+  add_rostest_with_parameters_gmock(test_load_mecanum_drive_controller
+    test/test_load_mecanum_drive_controller.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/mecanum_drive_controller_params.yaml
+  )
+  ament_target_dependencies(test_load_mecanum_drive_controller
     controller_manager
-    hardware_interface
     ros2_control_test_assets
   )
 

diff --git a/mecanum_drive_controller/test/test_load_mecanum_drive_controller.cpp b/mecanum_drive_controller/test/test_load_mecanum_drive_controller.cpp
@@ -22,10 +22,8 @@
 #include "rclcpp/utilities.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
 
-TEST(TestLoadMecanumDriveController, when_loading_controller_expect_no_exception)
+TEST(TestLoadMecanumDriveController, load_controller)
 {
-  rclcpp::init(0, nullptr);
-
   std::shared_ptr<rclcpp::Executor> executor =
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
@@ -41,3 +39,12 @@ TEST(TestLoadMecanumDriveController, when_loading_controller_expect_no_exception
 
   rclcpp::shutdown();
 }
+
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  int result = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return result;
+}
diff --git a/mecanum_drive_controller/test/test_mecanum_drive_controller.hpp b/mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
@@ -163,7 +163,11 @@ class MecanumDriveControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_mecanum_drive_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name), controller_interface::return_type::OK);
+    const auto urdf = "";
+    const auto ns = "";
+    ASSERT_EQ(
+      controller_->init(controller_name, urdf, 0, ns, controller_->define_custom_node_options()),
+      controller_interface::return_type::OK);
 
     std::vector<hardware_interface::LoanedCommandInterface> command_ifs;
     command_itfs_.reserve(joint_command_values_.size());