Fix URDF in test now that mimic info is read from file

PickNikRobotics · Jul 5, 2024 · ff29eca · ff29eca
1 parent d6d863f
commit ff29eca
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Showing 3 changed files with 31 additions and 27 deletions.
diff --git a/robotiq_driver/package.xml b/robotiq_driver/package.xml
@@ -33,7 +33,6 @@
 
   <!-- Support for gtest and gmock-based tests in the ament buildsystem in CMake. -->
   <test_depend>ament_cmake_gmock</test_depend>
-  <test_depend>ros2_control_test_assets</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/robotiq_driver/tests/CMakeLists.txt b/robotiq_driver/tests/CMakeLists.txt
@@ -2,7 +2,6 @@
 find_package(ament_cmake_gtest REQUIRED)
 find_package(ament_cmake_gmock REQUIRED)
 find_package(ament_lint_auto REQUIRED)
-find_package(ros2_control_test_assets REQUIRED)
 
 ament_lint_auto_find_test_dependencies()
 
@@ -21,9 +20,7 @@ target_include_directories(test_robotiq_gripper_hardware_interface
     PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
 )
 target_link_libraries(test_robotiq_gripper_hardware_interface robotiq_driver)
-ament_target_dependencies(test_robotiq_gripper_hardware_interface
-    ros2_control_test_assets
-)
+ament_target_dependencies(test_robotiq_gripper_hardware_interface)
 
 ###############################################################################
 # test_default_serial_factory

diff --git a/robotiq_driver/tests/test_robotiq_gripper_hardware_interface.cpp b/robotiq_driver/tests/test_robotiq_gripper_hardware_interface.cpp
@@ -42,9 +42,6 @@
 #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 robotiq_driver::test
 {
 
@@ -54,27 +51,38 @@ namespace robotiq_driver::test
  */
 TEST(TestRobotiqGripperHardwareInterface, load_urdf)
 {
-  std::string urdf_control_ =
+  std::string urdf =
       R"(
-         <ros2_control name="robotiq_driver_ros2_control" type="system">
-           <hardware>
-             <plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
-             <param name="gripper_speed_multiplier">1.0</param>
-             <param name="gripper_force_multiplier">0.5</param>
-             <param name="COM_port">/dev/ttyUSB0</param>
-             <param name="gripper_closed_position">0.7929</param>
-           </hardware>
-           <joint name="robotiq_85_left_knuckle_joint">
-             <command_interface name="position" />
-             <state_interface name="position">
-               <param name="initial_value">0.7929</param>
-             </state_interface>
-             <state_interface name="velocity"/>
-           </joint>
-         </ros2_control>
-       )";
+        <?xml version="1.0" encoding="utf-8"?>
+        <robot name="test_robot">
+          <link name="robotiq_85_base_link"/>
+          <link name="robotiq_85_left_knuckle_link"/>
+          <joint name="robotiq_85_left_knuckle_joint" type="revolute">
+            <parent link="robotiq_85_base_link" />
+            <child link="robotiq_85_left_knuckle_link" />
+            <axis xyz="0 -1 0" />
+            <origin xyz="0.03060114 0.0 0.05490452" rpy="0 0 0" />
+            <limit lower="0.0" upper="0.8" velocity="0.5" effort="50" />
+          </joint>
+          <ros2_control name="robotiq_driver_ros2_control" type="system">
+            <hardware>
+              <plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
+              <param name="gripper_speed_multiplier">1.0</param>
+              <param name="gripper_force_multiplier">0.5</param>
+              <param name="COM_port">/dev/ttyUSB0</param>
+              <param name="gripper_closed_position">0.7929</param>
+            </hardware>
+            <joint name="robotiq_85_left_knuckle_joint">
+              <command_interface name="position" />
+              <state_interface name="position">
+                <param name="initial_value">0.7929</param>
+              </state_interface>
+              <state_interface name="velocity"/>
+            </joint>
+          </ros2_control>
+        </robot>
+        )";
 
-  auto urdf = ros2_control_test_assets::urdf_head + urdf_control_ + ros2_control_test_assets::urdf_tail;
   hardware_interface::ResourceManager rm(urdf);
 
   // Check interfaces