Add tests parsing the controllers from the param file to a namespaced…

… controller_manager

controller_manager/CMakeLists.txt

@@ -185,6 +185,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(test_spawner_unspawner
     test/test_spawner_unspawner.cpp
+    TIMEOUT 120
   )
   target_link_libraries(test_spawner_unspawner
     controller_manager

controller_manager/test/test_controller_spawner_with_type.yaml

@@ -11,3 +11,17 @@ chainable_ctrl_with_parameters_and_type:
 ctrl_with_parameters_and_no_type:
   ros__parameters:
     joint_names: ["joint2"]
+
+/foo_namespace/ctrl_with_parameters_and_type:
+  ros__parameters:
+    type: "controller_manager/test_controller"
+    joint_names: ["joint1"]
+
+/foo_namespace/chainable_ctrl_with_parameters_and_type:
+  ros__parameters:
+    type: "controller_manager/test_chainable_controller"
+    joint_names: ["joint1"]
+
+/foo_namespace/ctrl_with_parameters_and_no_type:
+  ros__parameters:
+    joint_names: ["joint2"]

controller_manager/test/test_spawner_unspawner.cpp

@@ -603,3 +603,62 @@ TEST_F(TestLoadControllerWithNamespacedCM, multi_ctrls_test_type_in_param)
     validate_loaded_controllers();
   }
 }
+
+TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
+{
+  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
+                                     "/test/test_controller_spawner_with_type.yaml";
+
+  // Provide controller type via the parsed file
+  EXPECT_EQ(
+    call_spawner(
+      "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c "
+      "test_controller_manager -p " +
+      test_file_path),
+    256)
+    << "Should fail without the namespacing it";
+  EXPECT_EQ(
+    call_spawner(
+      "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c "
+      "test_controller_manager -p " +
+      test_file_path + " --ros-args -r __ns:=/foo_namespace"),
+    0);
+
+  ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul);
+
+  auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0];
+  ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type");
+  ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
+  ASSERT_EQ(
+    ctrl_with_parameters_and_type.c->get_state().id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+
+  auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
+  ASSERT_EQ(
+    chain_ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type");
+  ASSERT_EQ(
+    chain_ctrl_with_parameters_and_type.info.type,
+    test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
+  ASSERT_EQ(
+    chain_ctrl_with_parameters_and_type.c->get_state().id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+
+  EXPECT_EQ(
+    call_spawner(
+      "ctrl_with_parameters_and_no_type -c test_controller_manager -p " + test_file_path +
+      " --ros-args -r __ns:=/foo_namespace"),
+    256)
+    << "Should fail as no type is defined!";
+  // Will still be same as the current call will fail
+  ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul);
+
+  auto ctrl_1 = cm_->get_loaded_controllers()[0];
+  ASSERT_EQ(ctrl_1.info.name, "ctrl_with_parameters_and_type");
+  ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
+  ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+
+  auto ctrl_2 = cm_->get_loaded_controllers()[1];
+  ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type");
+  ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
+  ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+}