Do not depend on other controllers

ros-controls · Aug 14, 2024 · 14028ea · 14028ea
1 parent a77c600
commit 14028ea
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Showing 2 changed files with 50 additions and 94 deletions.
diff --git a/controller_manager/package.xml b/controller_manager/package.xml
@@ -31,13 +31,9 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>force_torque_sensor_broadcaster</test_depend>
   <test_depend>hardware_interface_testing</test_depend>
-  <test_depend>joint_state_broadcaster</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
-  <test_depend>position_controllers</test_depend>
   <test_depend>python3-coverage</test_depend>
-  <test_depend>robot_state_publisher</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
   <test_depend>xacro</test_depend>
 

diff --git a/controller_manager/test/test_controllers.yaml b/controller_manager/test/test_controllers.yaml
@@ -4,142 +4,102 @@ controller_manager:
     update_rate: 100
 
     joint_state_broadcaster0:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster1:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster2:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster3:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster4:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster5:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster6:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster7:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster8:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster9:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster10:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster11:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster12:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster13:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster14:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster15:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster16:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster17:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster18:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster19:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster20:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster21:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster22:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster23:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster24:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster25:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster26:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster27:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster28:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster29:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster30:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster31:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster32:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster33:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster34:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster35:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster36:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster37:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster38:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster39:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster40:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster41:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster42:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster43:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster44:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster45:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster46:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster47:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster48:
-      type: joint_state_broadcaster/JointStateBroadcaster
+      type: controller_manager/test_controller
     joint_state_broadcaster49:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-    fts_broadcaster:
-      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
-
-    base_controller:
-      type: position_controllers/JointGroupPositionController
-
-    joint1_controller:
-      type: position_controllers/JointGroupPositionController
-
-    joint2_controller:
-      type: position_controllers/JointGroupPositionController
-
-fts_broadcaster:
-  ros__parameters:
-    sensor_name: base_ft_sensor
-    state_interface_names:
-      - force.x
-      - force.y
-      - force.z
-      - torque.x
-      - torque.y
-      - torque.z
-    frame_id: base_link
-    topic_name: base_wrench
-
-base_controller:
-  ros__parameters:
-    joints:
-      - base_joint
-
-joint1_controller:
-  ros__parameters:
-    joints:
-      - joint1
-
-joint2_controller:
-  ros__parameters:
-    joints:
-      - joint2
+      type: controller_manager/test_controller