Make tests to use hardware descritpion in tests to be able to activat…

…e controllers.
ros-controls · Jan 16, 2024 · 2ffa0e0 · 2ffa0e0
1 parent 56475ac
commit 2ffa0e0
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Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/controller_manager/test/controller_manager_test_common.hpp b/controller_manager/test/controller_manager_test_common.hpp
@@ -164,7 +164,11 @@ class TestControllerManagerSrvs
 : public ControllerManagerFixture<controller_manager::ControllerManager>
 {
 public:
-  TestControllerManagerSrvs() {}
+  TestControllerManagerSrvs()
+  : ControllerManagerFixture<controller_manager::ControllerManager>(
+      ros2_control_test_assets::minimal_robot_urdf, true)
+  {
+  }
 
   void SetUp() override
   {

diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
@@ -106,6 +106,12 @@ class TestControllerChainingWithControllerManager
   public testing::WithParamInterface<Strictness>
 {
 public:
+  TestControllerChainingWithControllerManager()
+  : ControllerManagerFixture<TestableControllerManager>(
+      ros2_control_test_assets::minimal_robot_urdf, true)
+  {
+  }
+
   void SetUp()
   {
     executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();