diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt index a34be3c672..83edf7c157 100644 --- a/ackermann_steering_controller/CMakeLists.txt +++ b/ackermann_steering_controller/CMakeLists.txt @@ -58,10 +58,8 @@ if(BUILD_TESTING) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_ackermann_steering_controller - test/test_load_ackermann_steering_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_params.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_ackermann_steering_controller test/test_load_ackermann_steering_controller.cpp) ament_target_dependencies(test_load_ackermann_steering_controller controller_manager hardware_interface diff --git a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp index 8e81643835..e7b56e2788 100644 --- a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp +++ b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp @@ -29,12 +29,15 @@ TEST(TestLoadAckermannSteeringController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/ackermann_steering_controller_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_ackermann_steering_controller", - "ackermann_steering_controller/AckermannSteeringController"), - nullptr); + cm.set_parameter({"test_ackermann_steering_controller.params_file", test_file_path}); + cm.set_parameter( + {"test_ackermann_steering_controller.type", + "ackermann_steering_controller/AckermannSteeringController"}); + + ASSERT_NE(cm.load_controller("test_ackermann_steering_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt index 10ca5caa40..cd16714a31 100644 --- a/admittance_controller/CMakeLists.txt +++ b/admittance_controller/CMakeLists.txt @@ -68,10 +68,8 @@ if(BUILD_TESTING) find_package(kinematics_interface_kdl REQUIRED) # test loading admittance controller - add_rostest_with_parameters_gmock(test_load_admittance_controller - test/test_load_admittance_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/test_params.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_admittance_controller test/test_load_admittance_controller.cpp) ament_target_dependencies(test_load_admittance_controller controller_manager hardware_interface diff --git a/admittance_controller/test/test_load_admittance_controller.cpp b/admittance_controller/test/test_load_admittance_controller.cpp index ea4c14caac..5006920858 100644 --- a/admittance_controller/test/test_load_admittance_controller.cpp +++ b/admittance_controller/test/test_load_admittance_controller.cpp @@ -30,10 +30,13 @@ TEST(TestLoadAdmittanceController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = std::string(TEST_FILES_DIRECTORY) + "/test_params.yaml"; - ASSERT_EQ( - cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"), - nullptr); + cm.set_parameter({"load_admittance_controller.params_file", test_file_path}); + cm.set_parameter( + {"load_admittance_controller.type", "admittance_controller/AdmittanceController"}); + + ASSERT_EQ(cm.load_controller("load_admittance_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt index 6535a73260..db1f5cf4ba 100644 --- a/bicycle_steering_controller/CMakeLists.txt +++ b/bicycle_steering_controller/CMakeLists.txt @@ -57,10 +57,8 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_bicycle_steering_controller - test/test_load_bicycle_steering_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_params.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_bicycle_steering_controller test/test_load_bicycle_steering_controller.cpp) ament_target_dependencies(test_load_bicycle_steering_controller controller_manager hardware_interface diff --git a/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp index 7be5e2dd1d..4d17a4bdd7 100644 --- a/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp +++ b/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp @@ -29,11 +29,15 @@ TEST(TestLoadBicycleSteeringController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/bicycle_steering_controller_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_bicycle_steering_controller", "bicycle_steering_controller/BicycleSteeringController"), - nullptr); + cm.set_parameter({"test_bicycle_steering_controller.params_file", test_file_path}); + cm.set_parameter( + {"test_bicycle_steering_controller.type", + "bicycle_steering_controller/BicycleSteeringController"}); + + ASSERT_NE(cm.load_controller("test_bicycle_steering_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt index 70a54e302c..4eeb98b9d2 100644 --- a/diff_drive_controller/CMakeLists.txt +++ b/diff_drive_controller/CMakeLists.txt @@ -70,10 +70,8 @@ if(BUILD_TESTING) tf2_msgs ) - add_rostest_with_parameters_gmock(test_load_diff_drive_controller - test/test_load_diff_drive_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_diff_drive_controller.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_diff_drive_controller test/test_load_diff_drive_controller.cpp) ament_target_dependencies(test_load_diff_drive_controller controller_manager ros2_control_test_assets diff --git a/diff_drive_controller/test/test_load_diff_drive_controller.cpp b/diff_drive_controller/test/test_load_diff_drive_controller.cpp index aa23f83ec9..302bdf6924 100644 --- a/diff_drive_controller/test/test_load_diff_drive_controller.cpp +++ b/diff_drive_controller/test/test_load_diff_drive_controller.cpp @@ -29,10 +29,14 @@ TEST(TestLoadDiffDriveController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::diffbot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/config/test_diff_drive_controller.yaml"; - ASSERT_NE( - cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"), - nullptr); + cm.set_parameter({"test_diff_drive_controller.params_file", test_file_path}); + cm.set_parameter( + {"test_diff_drive_controller.type", "diff_drive_controller/DiffDriveController"}); + + ASSERT_NE(cm.load_controller("test_diff_drive_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/force_torque_sensor_broadcaster/CMakeLists.txt b/force_torque_sensor_broadcaster/CMakeLists.txt index 38c984192e..02c343f050 100644 --- a/force_torque_sensor_broadcaster/CMakeLists.txt +++ b/force_torque_sensor_broadcaster/CMakeLists.txt @@ -53,9 +53,8 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_force_torque_sensor_broadcaster - test/test_load_force_torque_sensor_broadcaster.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/force_torque_sensor_broadcaster_params.yaml) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_force_torque_sensor_broadcaster test/test_load_force_torque_sensor_broadcaster.cpp) target_include_directories(test_load_force_torque_sensor_broadcaster PRIVATE include) target_link_libraries(test_load_force_torque_sensor_broadcaster force_torque_sensor_broadcaster diff --git a/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp index f8b367d341..b5887f09e1 100644 --- a/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp +++ b/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp @@ -34,11 +34,15 @@ TEST(TestLoadForceTorqueSensorBroadcaster, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); - ASSERT_NE( - cm.load_controller( - "test_force_torque_sensor_broadcaster", - "force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster"), - nullptr); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/force_torque_sensor_broadcaster_params.yaml"; + + cm.set_parameter({"test_force_torque_sensor_broadcaster.params_file", test_file_path}); + cm.set_parameter( + {"test_force_torque_sensor_broadcaster.type", + "force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster"}); + + ASSERT_NE(cm.load_controller("test_force_torque_sensor_broadcaster"), nullptr); } int main(int argc, char ** argv) diff --git a/imu_sensor_broadcaster/CMakeLists.txt b/imu_sensor_broadcaster/CMakeLists.txt index 6782012c65..5539dea9ff 100644 --- a/imu_sensor_broadcaster/CMakeLists.txt +++ b/imu_sensor_broadcaster/CMakeLists.txt @@ -53,9 +53,8 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_imu_sensor_broadcaster - test/test_load_imu_sensor_broadcaster.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/imu_sensor_broadcaster_params.yaml) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_imu_sensor_broadcaster test/test_load_imu_sensor_broadcaster.cpp) target_include_directories(test_load_imu_sensor_broadcaster PRIVATE include) target_link_libraries(test_load_imu_sensor_broadcaster imu_sensor_broadcaster diff --git a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp index fa2afab200..eca29082c1 100644 --- a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp +++ b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp @@ -33,11 +33,14 @@ TEST(TestLoadIMUSensorBroadcaster, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/imu_sensor_broadcaster_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_imu_sensor_broadcaster", "imu_sensor_broadcaster/IMUSensorBroadcaster"), - nullptr); + cm.set_parameter({"test_imu_sensor_broadcaster.params_file", test_file_path}); + cm.set_parameter( + {"test_imu_sensor_broadcaster.type", "imu_sensor_broadcaster/IMUSensorBroadcaster"}); + + ASSERT_NE(cm.load_controller("test_imu_sensor_broadcaster"), nullptr); } int main(int argc, char ** argv) diff --git a/parallel_gripper_controller/CMakeLists.txt b/parallel_gripper_controller/CMakeLists.txt index 75380a953f..cb0f4fafc9 100644 --- a/parallel_gripper_controller/CMakeLists.txt +++ b/parallel_gripper_controller/CMakeLists.txt @@ -48,9 +48,8 @@ if(BUILD_TESTING) find_package(controller_manager REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_parallel_gripper_action_controllers - test/test_load_parallel_gripper_action_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/gripper_action_controller_params.yaml) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_parallel_gripper_action_controllers test/test_load_parallel_gripper_action_controller.cpp) target_include_directories(test_load_parallel_gripper_action_controllers PRIVATE include) ament_target_dependencies(test_load_parallel_gripper_action_controllers controller_manager diff --git a/parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp b/parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp index 35a10a8c31..6453539fa0 100644 --- a/parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp +++ b/parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp @@ -27,12 +27,15 @@ TEST(TestLoadGripperActionControllers, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/gripper_action_controller_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_gripper_action_position_controller", - "parallel_gripper_action_controller/GripperActionController"), - nullptr); + cm.set_parameter({"test_gripper_action_position_controller.params_file", test_file_path}); + cm.set_parameter( + {"test_gripper_action_position_controller.type", + "parallel_gripper_action_controller/GripperActionController"}); + + ASSERT_NE(cm.load_controller("test_gripper_action_position_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/range_sensor_broadcaster/CMakeLists.txt b/range_sensor_broadcaster/CMakeLists.txt index d7002d1b17..6f21607c9c 100644 --- a/range_sensor_broadcaster/CMakeLists.txt +++ b/range_sensor_broadcaster/CMakeLists.txt @@ -59,9 +59,8 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_range_sensor_broadcaster - test/test_load_range_sensor_broadcaster.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/range_sensor_broadcaster_params.yaml) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_range_sensor_broadcaster test/test_load_range_sensor_broadcaster.cpp) target_include_directories(test_load_range_sensor_broadcaster PRIVATE include) target_link_libraries(test_load_range_sensor_broadcaster range_sensor_broadcaster diff --git a/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp index b416ac4ef9..11aae67f5d 100644 --- a/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp +++ b/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp @@ -33,11 +33,14 @@ TEST(TestLoadRangeSensorBroadcaster, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/range_sensor_broadcaster_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_range_sensor_broadcaster", "range_sensor_broadcaster/RangeSensorBroadcaster"), - nullptr); + cm.set_parameter({"test_range_sensor_broadcaster.params_file", test_file_path}); + cm.set_parameter( + {"test_range_sensor_broadcaster.type", "range_sensor_broadcaster/RangeSensorBroadcaster"}); + + ASSERT_NE(cm.load_controller("test_range_sensor_broadcaster"), nullptr); } int main(int argc, char ** argv) diff --git a/tricycle_controller/CMakeLists.txt b/tricycle_controller/CMakeLists.txt index e264c1f258..6834b753a0 100644 --- a/tricycle_controller/CMakeLists.txt +++ b/tricycle_controller/CMakeLists.txt @@ -76,10 +76,8 @@ if(BUILD_TESTING) tf2_msgs ) - add_rostest_with_parameters_gmock(test_load_tricycle_controller - test/test_load_tricycle_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_tricycle_controller.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_tricycle_controller test/test_load_tricycle_controller.cpp) target_link_libraries(test_load_tricycle_controller tricycle_controller ) diff --git a/tricycle_controller/test/test_load_tricycle_controller.cpp b/tricycle_controller/test/test_load_tricycle_controller.cpp index 486c04515b..7f7f0e6fed 100644 --- a/tricycle_controller/test/test_load_tricycle_controller.cpp +++ b/tricycle_controller/test/test_load_tricycle_controller.cpp @@ -33,10 +33,13 @@ TEST(TestLoadTricycleController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/config/test_tricycle_controller.yaml"; - ASSERT_NE( - cm.load_controller("test_tricycle_controller", "tricycle_controller/TricycleController"), - nullptr); + cm.set_parameter({"test_tricycle_controller.params_file", test_file_path}); + cm.set_parameter({"test_tricycle_controller.type", "tricycle_controller/TricycleController"}); + + ASSERT_NE(cm.load_controller("test_tricycle_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/tricycle_steering_controller/CMakeLists.txt b/tricycle_steering_controller/CMakeLists.txt index 92c2782092..24b4cd1a22 100644 --- a/tricycle_steering_controller/CMakeLists.txt +++ b/tricycle_steering_controller/CMakeLists.txt @@ -57,10 +57,8 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_tricycle_steering_controller - test/test_load_tricycle_steering_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/tricycle_steering_controller_params.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_tricycle_steering_controller test/test_load_tricycle_steering_controller.cpp) ament_target_dependencies(test_load_tricycle_steering_controller controller_manager hardware_interface diff --git a/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp index 210153eef8..d3579c902f 100644 --- a/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp @@ -29,12 +29,15 @@ TEST(TestLoadTricycleSteeringController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/tricycle_steering_controller_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_tricycle_steering_controller", - "tricycle_steering_controller/TricycleSteeringController"), - nullptr); + cm.set_parameter({"test_tricycle_steering_controller.params_file", test_file_path}); + cm.set_parameter( + {"test_tricycle_steering_controller.type", + "tricycle_steering_controller/TricycleSteeringController"}); + + ASSERT_NE(cm.load_controller("test_tricycle_steering_controller"), nullptr); } int main(int argc, char ** argv)