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joint_state_broadcaster: Add proper subscription to TestCustomInterfaceMappingUpdate (backport #859) #863

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merged 1 commit into from
Nov 27, 2023
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joint_state_broadcaster: Add proper subscription to TestCustomInterfaceMappingUpdate (backport #859) #863

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21 changes: 10 additions & 11 deletions joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -531,19 +531,12 @@ TEST_F(JointStateBroadcasterTest, TestCustomInterfaceMappingUpdate)
state_broadcaster_->get_node()->set_parameter(
{std::string("map_interface_to_joint_state.") + HW_IF_POSITION, custom_interface_name_});

// configure ok
ASSERT_EQ(state_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);

ASSERT_EQ(state_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);

ASSERT_EQ(
state_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
sensor_msgs::msg::JointState joint_state_msg;
activate_and_get_joint_state_message("joint_states", joint_state_msg);

const size_t NUM_JOINTS = JOINT_NAMES.size();

// joint state initialized
const auto & joint_state_msg = state_broadcaster_->realtime_joint_state_publisher_->msg_;
ASSERT_THAT(joint_state_msg.name, ElementsAreArray(JOINT_NAMES));
ASSERT_THAT(joint_state_msg.position, SizeIs(NUM_JOINTS));
ASSERT_EQ(joint_state_msg.position[0], custom_joint_value_);
Expand Down Expand Up @@ -585,7 +578,8 @@ TEST_F(JointStateBroadcasterTest, UpdateTest)
controller_interface::return_type::OK);
}

void JointStateBroadcasterTest::test_published_joint_state_message(const std::string & topic)
void JointStateBroadcasterTest::activate_and_get_joint_state_message(
const std::string & topic, sensor_msgs::msg::JointState & joint_state_msg)
{
auto node_state = state_broadcaster_->get_node()->configure();
ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
Expand Down Expand Up @@ -616,9 +610,14 @@ void JointStateBroadcasterTest::test_published_joint_state_message(const std::st
"controller/broadcaster update loop";

// take message from subscription
sensor_msgs::msg::JointState joint_state_msg;
rclcpp::MessageInfo msg_info;
ASSERT_TRUE(subscription->take(joint_state_msg, msg_info));
}

void JointStateBroadcasterTest::test_published_joint_state_message(const std::string & topic)
{
sensor_msgs::msg::JointState joint_state_msg;
activate_and_get_joint_state_message(topic, joint_state_msg);

const size_t NUM_JOINTS = joint_names_.size();
ASSERT_THAT(joint_state_msg.name, SizeIs(NUM_JOINTS));
Expand Down
3 changes: 3 additions & 0 deletions joint_state_broadcaster/test/test_joint_state_broadcaster.hpp
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Expand Up @@ -71,6 +71,9 @@ class JointStateBroadcasterTest : public ::testing::Test

void test_published_dynamic_joint_state_message(const std::string & topic);

void activate_and_get_joint_state_message(
const std::string & topic, sensor_msgs::msg::JointState & msg);

protected:
// dummy joint state values used for tests
const std::vector<std::string> joint_names_ = {"joint1", "joint2", "joint3"};
Expand Down
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