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Add tests for multiple controller ros args #2155

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Merged
merged 5 commits into from
Apr 1, 2025
Merged

Add tests for multiple controller ros args #2155

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8f074fa
add tests for multiple controller ros args
saikishor Mar 31, 2025
fd477a6
move the parameter to the second --controller-ros-arg
saikishor Mar 31, 2025
bdfdf6b
modify the test to have 2 parameters
saikishor Apr 1, 2025
924f637
fix tests
saikishor Apr 1, 2025
fdf7063
fix the spawner call
saikishor Apr 1, 2025
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19 changes: 17 additions & 2 deletions controller_manager/test/test_spawner_unspawner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -811,8 +811,9 @@ TEST_F(TestLoadController, test_spawner_parsed_controller_ros_args)

// Now test the remapping of the service name with the controller_ros_args
EXPECT_EQ(
call_spawner(
"ctrl_2 -c test_controller_manager --controller-ros-args '-r /ctrl_2/set_bool:=/set_bool'"),
call_spawner("ctrl_2 -c test_controller_manager --controller-ros-args '-r "
"/ctrl_2/set_bool:=/set_bool' --controller-ros-args '--param "
"run_cycle:=20 -p test_cycle:=-11.0'"),
0);

ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul);
Expand All @@ -825,6 +826,20 @@ TEST_F(TestLoadController, test_spawner_parsed_controller_ros_args)
node->create_client<example_interfaces::srv::SetBool>("/ctrl_2/set_bool");
ASSERT_FALSE(ctrl_2_set_bool_service->wait_for_service(std::chrono::seconds(2)));
ASSERT_FALSE(ctrl_2_set_bool_service->service_is_ready());

// Check the parameter run_cycle to have the right value
ASSERT_EQ("ctrl_2", cm_->get_loaded_controllers()[0].info.name);
auto ctrl_2 = cm_->get_loaded_controllers()[0].c->get_node();
if (!ctrl_2->has_parameter("run_cycle"))
{
ctrl_2->declare_parameter("run_cycle", -200);
}
ASSERT_THAT(ctrl_2->get_parameter("run_cycle").as_int(), 20);
if (!ctrl_2->has_parameter("test_cycle"))
{
ctrl_2->declare_parameter("test_cycle", 1231.0);
}
ASSERT_THAT(ctrl_2->get_parameter("test_cycle").as_double(), -11.0);
}

class TestLoadControllerWithoutRobotDescription
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