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

…e controllers.
ros-controls · Jan 16, 2024 · 9c1bbef · 9c1bbef
1 parent be7838a
commit 9c1bbef
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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
@@ -87,6 +87,12 @@ 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>();