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Merge branch 'master' into hardware_interfaces_getter_setter
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@bmagyar
bmagyar committed Sep 25, 2024
2 parents 9024adc + b2794d0 commit ef1fa2c
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Showing 2 changed files with 39 additions and 4 deletions.
9 changes: 5 additions & 4 deletions controller_interface/include/controller_interface/controller_interface_base.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -185,14 +185,15 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
CONTROLLER_INTERFACE_PUBLIC
virtual rclcpp::NodeOptions define_custom_node_options() const
{
rclcpp::NodeOptions node_options;
// \note The versions conditioning is added here to support the source-compatibility with Humble
#if RCLCPP_VERSION_MAJOR >= 21
return rclcpp::NodeOptions().enable_logger_service(true);
node_options.enable_logger_service(true);
#else
return rclcpp::NodeOptions()
.allow_undeclared_parameters(true)
.automatically_declare_parameters_from_overrides(true);
node_options.allow_undeclared_parameters(true);
node_options.automatically_declare_parameters_from_overrides(true);
#endif
return node_options;
}

/// Declare and initialize a parameter with a type.
Expand Down
34 changes: 34 additions & 0 deletions controller_manager/test/test_spawner_unspawner.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -277,6 +277,8 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)
ASSERT_EQ(
ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
ASSERT_EQ(
Expand All @@ -287,6 +289,9 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);

EXPECT_EQ(
call_spawner(
Expand All @@ -302,12 +307,17 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

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_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);
}

TEST_F(TestLoadController, unload_on_kill)
Expand Down Expand Up @@ -367,6 +377,7 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers)
ASSERT_TRUE(ctrl_1.info.fallback_controllers_names.empty());
ASSERT_EQ(
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_1.params_file").as_string(), test_file_path);
}

// Try to spawn now the controller with fallback controllers inside the yaml
Expand All @@ -381,6 +392,7 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers)
ASSERT_TRUE(ctrl_1.info.fallback_controllers_names.empty());
ASSERT_EQ(
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_1.params_file").as_string(), test_file_path);

auto ctrl_2 = cm_->get_loaded_controllers()[1];
ASSERT_EQ(ctrl_2.info.name, "ctrl_2");
Expand All @@ -389,13 +401,15 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers)
ctrl_2.info.fallback_controllers_names, testing::ElementsAre("ctrl_6", "ctrl_7", "ctrl_8"));
ASSERT_EQ(
ctrl_2.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_2.params_file").as_string(), test_file_path);

auto ctrl_3 = cm_->get_loaded_controllers()[2];
ASSERT_EQ(ctrl_3.info.name, "ctrl_3");
ASSERT_EQ(ctrl_3.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_THAT(ctrl_3.info.fallback_controllers_names, testing::ElementsAre("ctrl_9"));
ASSERT_EQ(
ctrl_3.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_3.params_file").as_string(), test_file_path);
}
}

Expand Down Expand Up @@ -680,6 +694,8 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
ASSERT_EQ(
ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
ASSERT_EQ(
Expand All @@ -690,6 +706,9 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);

EXPECT_EQ(
call_spawner(
Expand All @@ -705,12 +724,17 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

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_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);
}

TEST_F(
Expand Down Expand Up @@ -758,6 +782,8 @@ TEST_F(
ASSERT_EQ(
ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
ASSERT_EQ(
Expand All @@ -768,6 +794,9 @@ TEST_F(
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);

EXPECT_EQ(
call_spawner(
Expand All @@ -783,10 +812,15 @@ TEST_F(
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

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_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);
}

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