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added changes corresponding to the logger and clock propagation in Re…
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…sourceManager
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saikishor committed Jun 27, 2024
1 parent b81be48 commit f5656e8
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Showing 18 changed files with 19 additions and 53 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,7 @@ TEST(TestLoadAckermannSteeringController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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Original file line number Diff line number Diff line change
Expand Up @@ -29,9 +29,7 @@ TEST(TestLoadAdmittanceController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_EQ(
cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"),
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,7 @@ TEST(TestLoadBicycleSteeringController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,7 @@ TEST(TestLoadDiffDriveController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(ros2_control_test_assets::diffbot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::diffbot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"),
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Original file line number Diff line number Diff line change
Expand Up @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupVelocityController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,7 @@ TEST(TestLoadForceTorqueSensorBroadcaster, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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Original file line number Diff line number Diff line change
Expand Up @@ -30,9 +30,7 @@ TEST(TestLoadForwardCommandController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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Original file line number Diff line number Diff line change
Expand Up @@ -31,9 +31,7 @@ TEST(TestLoadMultiInterfaceForwardController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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Original file line number Diff line number Diff line change
Expand Up @@ -30,9 +30,7 @@ TEST(TestLoadGripperActionControllers, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,7 @@ TEST(TestLoadIMUSensorBroadcaster, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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Original file line number Diff line number Diff line change
Expand Up @@ -30,9 +30,7 @@ TEST(TestLoadJointStateBroadcaster, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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Original file line number Diff line number Diff line change
Expand Up @@ -31,9 +31,7 @@ TEST(TestLoadJointStateController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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5 changes: 2 additions & 3 deletions pid_controller/test/test_load_pid_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -33,9 +33,8 @@ TEST(TestLoadPidController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");

executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NO_THROW(cm.load_controller("test_pid_controller", "pid_controller/PidController"));

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Original file line number Diff line number Diff line change
Expand Up @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupPositionController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,7 @@ TEST(TestLoadRangeSensorBroadcaster, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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4 changes: 1 addition & 3 deletions tricycle_controller/test/test_load_tricycle_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,7 @@ TEST(TestLoadTricycleController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller("test_tricycle_controller", "tricycle_controller/TricycleController"),
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,7 @@ TEST(TestLoadTricycleSteeringController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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Original file line number Diff line number Diff line change
Expand Up @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupVelocityController, load_controller)
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

controller_manager::ControllerManager cm(
std::make_unique<hardware_interface::ResourceManager>(
ros2_control_test_assets::minimal_robot_urdf),
executor, "test_controller_manager");
executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");

ASSERT_NE(
cm.load_controller(
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