prototype test

Author: macmacal

robotiq_hande_driver/test/test_load_hw_interface.cpp

@@ -0,0 +1,79 @@
+#include <gmock/gmock.h>
+
+#include <cmath>
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include "hardware_interface/loaned_command_interface.hpp"
+#include "hardware_interface/loaned_state_interface.hpp"
+#include "hardware_interface/resource_manager.hpp"
+#include "hardware_interface/types/lifecycle_state_names.hpp"
+#include "lifecycle_msgs/msg/state.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "ros2_control_test_assets/components_urdfs.hpp"
+#include "ros2_control_test_assets/descriptions.hpp"
+
+namespace
+{
+const auto TIME = rclcpp::Time(0);
+const auto PERIOD = rclcpp::Duration::from_seconds(0.1);  // 0.1 seconds for easier math
+const auto COMPARE_DELTA = 0.0001;
+}  // namespace
+
+class TestHWInterface : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    hardware_system_2dof_ =
+      R"(
+  <ros2_control name="GenericSystem2dof" type="system">
+    <hardware>
+      <plugin>mock_components/GenericSystem</plugin>
+    </hardware>
+    <joint name="joint1">
+      <command_interface name="position"/>
+      <state_interface name="position">
+        <param name="initial_value">1.57</param>
+      </state_interface>
+    </joint>
+    <joint name="joint2">
+      <command_interface name="position"/>
+      <state_interface name="position">
+        <param name="initial_value">0.7854</param>
+      </state_interface>
+    </joint>
+  </ros2_control>
+)";
+  }
+
+  std::string hardware_system_2dof_;
+};
+
+// Forward declaration
+namespace hardware_interface
+{
+class ResourceStorage;
+}
+
+class TestableResourceManager : public hardware_interface::ResourceManager
+{
+public:
+  friend TestHWInterface;
+
+  TestableResourceManager() : hardware_interface::ResourceManager() {}
+
+  TestableResourceManager(
+    const std::string & urdf, bool validate_interfaces = true, bool activate_all = false)
+  : hardware_interface::ResourceManager(urdf, validate_interfaces, activate_all)
+  {
+  }
+};
+
+TEST_F(TestHWInterface, load_generic_system_2dof)
+{
+  auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_ +
+              ros2_control_test_assets::urdf_tail;
+  ASSERT_NO_THROW(TestableResourceManager rm(urdf));
+}