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);
+}