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Nandostream11Nandostream11
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Controller interface api update to ros2_controller packages (#1973)
1 parent 4c4a13e commit fcf89fc

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28 files changed

+272
-122
lines changed

28 files changed

+272
-122
lines changed

‎ackermann_steering_controller/test/test_ackermann_steering_controller.hpp‎

Lines changed: 7 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -133,9 +133,13 @@ class AckermannSteeringControllerFixture : public ::testing::Test
133133
protected:
134134
void SetUpController(const std::string controller_name = "test_ackermann_steering_controller")
135135
{
136-
ASSERT_EQ(
137-
controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
138-
controller_interface::return_type::OK);
136+
controller_interface::ControllerInterfaceParams params;
137+
params.controller_name = controller_name;
138+
params.robot_description = "";
139+
params.update_rate = 0;
140+
params.node_namespace = "";
141+
params.node_options = controller_->define_custom_node_options();
142+
ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
139143

140144
if (position_feedback_ == true)
141145
{

‎admittance_controller/test/test_admittance_controller.hpp‎

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -160,8 +160,13 @@ class AdmittanceControllerTest : public ::testing::Test
160160
controller_interface::return_type SetUpControllerCommon(
161161
const std::string & controller_name, const rclcpp::NodeOptions & options)
162162
{
163-
auto result =
164-
controller_->init(controller_name, controller_->robot_description_, 0, "", options);
163+
controller_interface::ControllerInterfaceParams params;
164+
params.controller_name = controller_name;
165+
params.robot_description = controller_->robot_description_;
166+
params.update_rate = 0;
167+
params.node_namespace = "";
168+
params.node_options = options;
169+
auto result = controller_->init(params);
165170

166171
controller_->export_reference_interfaces();
167172
assign_interfaces();

‎bicycle_steering_controller/test/test_bicycle_steering_controller.hpp‎

Lines changed: 7 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -131,9 +131,13 @@ class BicycleSteeringControllerFixture : public ::testing::Test
131131
protected:
132132
void SetUpController(const std::string controller_name = "test_bicycle_steering_controller")
133133
{
134-
ASSERT_EQ(
135-
controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
136-
controller_interface::return_type::OK);
134+
controller_interface::ControllerInterfaceParams params;
135+
params.controller_name = controller_name;
136+
params.robot_description = "";
137+
params.update_rate = 0;
138+
params.node_namespace = "";
139+
params.node_options = controller_->define_custom_node_options();
140+
ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
137141

138142
if (position_feedback_ == true)
139143
{

‎chained_filter_controller/test/test_chained_filter.cpp‎

Lines changed: 14 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -48,7 +48,13 @@ void ChainedFilterTest::SetUpController(
4848
auto node_options = controller_->define_custom_node_options();
4949
node_options.parameter_overrides(parameters);
5050

51-
const auto result = controller_->init(node_name, "", 0, "", node_options);
51+
controller_interface::ControllerInterfaceParams params;
52+
params.controller_name = node_name;
53+
params.robot_description = "";
54+
params.update_rate = 0;
55+
params.node_namespace = "";
56+
params.node_options = node_options;
57+
const auto result = controller_->init(params);
5258
ASSERT_EQ(result, controller_interface::return_type::OK);
5359

5460
std::vector<LoanedStateInterface> state_ifs;
@@ -61,8 +67,13 @@ TEST_F(ChainedFilterTest, InitReturnsSuccess) { SetUpController(); }
6167

6268
TEST_F(ChainedFilterTest, InitFailureWithNoParams)
6369
{
64-
const auto result = controller_->init(
65-
"test_chained_filter_no_params", "", 0, "", controller_->define_custom_node_options());
70+
controller_interface::ControllerInterfaceParams params;
71+
params.controller_name = "test_chained_filter_no_params";
72+
params.robot_description = "";
73+
params.update_rate = 0;
74+
params.node_namespace = "";
75+
params.node_options = controller_->define_custom_node_options();
76+
const auto result = controller_->init(params);
6677
EXPECT_EQ(result, controller_interface::return_type::ERROR);
6778
}
6879

‎chained_filter_controller/test/test_multiple_chained_filter.cpp‎

Lines changed: 7 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -48,7 +48,13 @@ void MultipleChainedFilterTest::SetUpController(
4848
auto node_options = controller_->define_custom_node_options();
4949
node_options.parameter_overrides(parameters);
5050

51-
const auto result = controller_->init(node_name, "", 0, "", node_options);
51+
controller_interface::ControllerInterfaceParams params;
52+
params.controller_name = node_name;
53+
params.robot_description = "";
54+
params.update_rate = 0;
55+
params.node_namespace = "";
56+
params.node_options = node_options;
57+
const auto result = controller_->init(params);
5258
ASSERT_EQ(result, controller_interface::return_type::OK);
5359

5460
std::vector<LoanedStateInterface> state_ifs;

‎diff_drive_controller/test/test_diff_drive_controller.cpp‎

Lines changed: 14 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -206,8 +206,13 @@ class TestDiffDriveController : public ::testing::Test
206206

207207
parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
208208
node_options.parameter_overrides(parameter_overrides);
209-
210-
return controller_->init(controller_name, urdf_, 0, ns, node_options);
209+
controller_interface::ControllerInterfaceParams params;
210+
params.controller_name = controller_name;
211+
params.robot_description = urdf_;
212+
params.update_rate = 0;
213+
params.node_namespace = ns;
214+
params.node_options = node_options;
215+
return controller_->init(params);
211216
}
212217

213218
std::string controller_name;
@@ -243,8 +248,13 @@ class TestDiffDriveController : public ::testing::Test
243248

244249
TEST_F(TestDiffDriveController, init_fails_without_parameters)
245250
{
246-
const auto ret =
247-
controller_->init(controller_name, urdf_, 0, "", controller_->define_custom_node_options());
251+
controller_interface::ControllerInterfaceParams params;
252+
params.controller_name = controller_name;
253+
params.robot_description = urdf_;
254+
params.update_rate = 0;
255+
params.node_namespace = "";
256+
params.node_options = controller_->define_custom_node_options();
257+
const auto ret = controller_->init(params);
248258
ASSERT_EQ(ret, controller_interface::return_type::ERROR);
249259
}
250260

‎effort_controllers/test/test_joint_group_effort_controller.cpp‎

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -42,8 +42,13 @@ void JointGroupEffortControllerTest::SetUpController(
4242
auto node_options = controller_->define_custom_node_options();
4343
node_options.parameter_overrides(parameters);
4444

45-
const auto result =
46-
controller_->init("test_joint_group_effort_controller", "", 0, "", node_options);
45+
controller_interface::ControllerInterfaceParams params;
46+
params.controller_name = "test_joint_group_effort_controller";
47+
params.robot_description = "";
48+
params.update_rate = 0;
49+
params.node_namespace = "";
50+
params.node_options = node_options;
51+
const auto result = controller_->init(params);
4752
ASSERT_EQ(result, controller_interface::return_type::OK);
4853

4954
std::vector<LoanedCommandInterface> command_ifs;

‎force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp‎

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -54,8 +54,13 @@ void ForceTorqueSensorBroadcasterTest::TearDown() { fts_broadcaster_.reset(nullp
5454

5555
void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster(std::string node_name)
5656
{
57-
const auto result =
58-
fts_broadcaster_->init(node_name, "", 0, "", fts_broadcaster_->define_custom_node_options());
57+
controller_interface::ControllerInterfaceParams params;
58+
params.controller_name = node_name;
59+
params.robot_description = "";
60+
params.update_rate = 0;
61+
params.node_namespace = "";
62+
params.node_options = fts_broadcaster_->define_custom_node_options();
63+
const auto result = fts_broadcaster_->init(params);
5964
ASSERT_EQ(result, controller_interface::return_type::OK);
6065

6166
std::vector<LoanedStateInterface> state_ifs;

‎forward_command_controller/test/test_forward_command_controller.cpp‎

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -54,8 +54,13 @@ void ForwardCommandControllerTest::SetUpController(
5454
{
5555
auto node_options = controller_->define_custom_node_options();
5656
node_options.parameter_overrides(parameters);
57-
58-
const auto result = controller_->init("forward_command_controller", "", 0, "", node_options);
57+
controller_interface::ControllerInterfaceParams params;
58+
params.controller_name = "forward_command_controller";
59+
params.robot_description = "";
60+
params.update_rate = 0;
61+
params.node_namespace = "";
62+
params.node_options = node_options;
63+
const auto result = controller_->init(params);
5964
ASSERT_EQ(result, controller_interface::return_type::OK);
6065

6166
std::vector<LoanedCommandInterface> command_ifs;

‎forward_command_controller/test/test_multi_interface_forward_command_controller.cpp‎

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -65,8 +65,13 @@ void MultiInterfaceForwardCommandControllerTest::SetUpController(
6565
auto node_options = controller_->define_custom_node_options();
6666
node_options.parameter_overrides(parameter_overrides);
6767

68-
const auto result =
69-
controller_->init("multi_interface_forward_command_controller", "", 0, "", node_options);
68+
controller_interface::ControllerInterfaceParams params;
69+
params.controller_name = "multi_interface_forward_command_controller";
70+
params.robot_description = "";
71+
params.update_rate = 0;
72+
params.node_namespace = "";
73+
params.node_options = node_options;
74+
const auto result = controller_->init(params);
7075
ASSERT_EQ(result, controller_interface::return_type::OK);
7176

7277
std::vector<LoanedCommandInterface> command_ifs;

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