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Fix the ActivateWithWrongJointsNamesFails test (backport #1570) #1571

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Merged
christophfroehlich merged 1 commit into from
Mar 4, 2025
Merged

Fix the ActivateWithWrongJointsNamesFails test (backport #1570) #1571

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5 changes: 3 additions & 2 deletions effort_controllers/test/test_joint_group_effort_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,12 +89,13 @@ TEST_F(JointGroupEffortControllerTest, ActivateWithWrongJointsNamesFails)
// activate failed, 'joint4' is not a valid joint name for the hardware
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
ASSERT_EQ(controller_->on_cleanup(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

controller_->get_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint2"}});

// activate failed, 'acceleration' is not a registered interface for `joint1`
// activate should succeed now
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
}

TEST_F(JointGroupEffortControllerTest, CommandSuccessTest)
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5 changes: 3 additions & 2 deletions position_controllers/test/test_joint_group_position_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,12 +89,13 @@ TEST_F(JointGroupPositionControllerTest, ActivateWithWrongJointsNamesFails)
// activate failed, 'joint4' is not a valid joint name for the hardware
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
ASSERT_EQ(controller_->on_cleanup(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

controller_->get_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint2"}});

// activate failed, 'acceleration' is not a registered interface for `joint1`
// activate should succeed now
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
}

TEST_F(JointGroupPositionControllerTest, CommandSuccessTest)
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5 changes: 3 additions & 2 deletions velocity_controllers/test/test_joint_group_velocity_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,12 +89,13 @@ TEST_F(JointGroupVelocityControllerTest, ActivateWithWrongJointsNamesFails)
// activate failed, 'joint4' is not a valid joint name for the hardware
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
ASSERT_EQ(controller_->on_cleanup(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

controller_->get_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint2"}});

// activate failed, 'acceleration' is not a registered interface for `joint1`
// activate should succeed now
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
}

TEST_F(JointGroupVelocityControllerTest, CommandSuccessTest)
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