[GripperController] Fix failing tests (#1210)

parallel_gripper_controller/CMakeLists.txt

@@ -48,17 +48,19 @@ if(BUILD_TESTING)
   find_package(controller_manager REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
 
-  ament_add_gmock(test_load_parallel_gripper_action_controllers
-          test/test_load_parallel_gripper_action_controller.cpp
-  )
+  add_rostest_with_parameters_gmock(test_load_parallel_gripper_action_controllers
+  test/test_load_parallel_gripper_action_controller.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/test/gripper_action_controller_params.yaml)
+  target_include_directories(test_load_parallel_gripper_action_controllers PRIVATE include)
   ament_target_dependencies(test_load_parallel_gripper_action_controllers
     controller_manager
     ros2_control_test_assets
   )
 
-  ament_add_gmock(test_parallel_gripper_controller
-    test/test_parallel_gripper_controller.cpp
-  )
+  add_rostest_with_parameters_gmock(test_parallel_gripper_controller
+  test/test_parallel_gripper_controller.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/test/gripper_action_controller_params.yaml)
+  target_include_directories(test_parallel_gripper_controller PRIVATE include)
   target_link_libraries(test_parallel_gripper_controller
           parallel_gripper_action_controller
   )

parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp

@@ -44,7 +44,6 @@ controller_interface::CallbackReturn GripperActionController::on_init()
   try
   {
     param_listener_ = std::make_shared<ParamListener>(get_node());
-    params_ = param_listener_->get_params();
   }
   catch (const std::exception & e)
   {
@@ -245,6 +244,7 @@ controller_interface::CallbackReturn GripperActionController::on_configure(
     RCLCPP_ERROR(logger, "Joint name cannot be empty");
     return controller_interface::CallbackReturn::ERROR;
   }
+  RCLCPP_INFO(logger, "Joint name is : %s", params_.joint.c_str());
 
   return controller_interface::CallbackReturn::SUCCESS;
 }

parallel_gripper_controller/src/gripper_action_controller_parameters.yaml

@@ -11,6 +11,9 @@ parallel_gripper_action_controller:
   joint: {
     type: string,
     read_only: true,
+    validation: {
+      not_empty<>: null
+    }
   }
   state_interfaces: {
     type: string_array,

parallel_gripper_controller/test/gripper_action_controller_params.yaml

@@ -0,0 +1,7 @@
+test_gripper_action_position_controller:
+  ros__parameters:
+    joint: "joint1"
+
+test_gripper_action_position_controller_empty_joint:
+  ros__parameters:
+    joint: ""

parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp

@@ -22,8 +22,6 @@
 
 TEST(TestLoadGripperActionControllers, load_controller)
 {
-  rclcpp::init(0, nullptr);
-
   std::shared_ptr<rclcpp::Executor> executor =
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
@@ -32,12 +30,16 @@ TEST(TestLoadGripperActionControllers, load_controller)
 
   ASSERT_NE(
     cm.load_controller(
-      "test_gripper_action_position_controller", "position_controllers/GripperActionController"),
-    nullptr);
-  ASSERT_NE(
-    cm.load_controller(
-      "test_gripper_action_effort_controller", "effort_controllers/GripperActionController"),
+      "test_gripper_action_position_controller",
+      "parallel_gripper_action_controller/GripperActionController"),
     nullptr);
+}
 
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleMock(&argc, argv);
+  rclcpp::init(argc, argv);
+  int result = RUN_ALL_TESTS();
   rclcpp::shutdown();
+  return result;
 }

parallel_gripper_controller/test/test_parallel_gripper_controller.cpp

@@ -34,9 +34,9 @@ using GoalHandle = rclcpp_action::ServerGoalHandle<GripperCommandAction>;
 using testing::SizeIs;
 using testing::UnorderedElementsAre;
 
-void GripperControllerTest::SetUpTestCase() { rclcpp::init(0, nullptr); }
+void GripperControllerTest::SetUpTestCase() {}
 
-void GripperControllerTest::TearDownTestCase() { rclcpp::shutdown(); }
+void GripperControllerTest::TearDownTestCase() {}
 
 void GripperControllerTest::SetUp()
 {
@@ -46,11 +46,13 @@ void GripperControllerTest::SetUp()
 
 void GripperControllerTest::TearDown() { controller_.reset(nullptr); }
 
-void GripperControllerTest::SetUpController()
+void GripperControllerTest::SetUpController(
+  const std::string & controller_name = "test_gripper_action_position_controller",
+  controller_interface::return_type expected_result = controller_interface::return_type::OK)
 {
   const auto result =
-    controller_->init("gripper_controller", "", 0, "", controller_->define_custom_node_options());
-  ASSERT_EQ(result, controller_interface::return_type::OK);
+    controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options());
+  ASSERT_EQ(result, expected_result);
 
   std::vector<LoanedCommandInterface> command_ifs;
   command_ifs.emplace_back(this->joint_1_cmd_);
@@ -62,7 +64,9 @@ void GripperControllerTest::SetUpController()
 
 TEST_F(GripperControllerTest, ParametersNotSet)
 {
-  this->SetUpController();
+  this->SetUpController(
+    "test_gripper_action_position_controller_no_parameters",
+    controller_interface::return_type::ERROR);
 
   // configure failed, 'joints' parameter not set
   ASSERT_EQ(
@@ -72,9 +76,9 @@ TEST_F(GripperControllerTest, ParametersNotSet)
 
 TEST_F(GripperControllerTest, JointParameterIsEmpty)
 {
-  this->SetUpController();
-
-  this->controller_->get_node()->set_parameter({"joint", ""});
+  this->SetUpController(
+    "test_gripper_action_position_controller_empty_joint",
+    controller_interface::return_type::ERROR);
 
   // configure failed, 'joints' is empty
   ASSERT_EQ(
@@ -86,7 +90,9 @@ TEST_F(GripperControllerTest, ConfigureParamsSuccess)
 {
   this->SetUpController();
 
-  this->controller_->get_node()->set_parameter({"joint", "joint_1"});
+  this->controller_->get_node()->set_parameter({"joint", "joint1"});
+
+  rclcpp::spin_some(this->controller_->get_node()->get_node_base_interface());
 
   // configure successful
   ASSERT_EQ(
@@ -98,29 +104,14 @@ TEST_F(GripperControllerTest, ConfigureParamsSuccess)
   ASSERT_THAT(cmd_if_conf.names, SizeIs(1lu));
   ASSERT_THAT(
     cmd_if_conf.names,
-    UnorderedElementsAre(std::string("joint_1/") + hardware_interface::HW_IF_POSITION));
+    UnorderedElementsAre(std::string("joint1/") + hardware_interface::HW_IF_POSITION));
   EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
   auto state_if_conf = this->controller_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, SizeIs(2lu));
-  ASSERT_THAT(state_if_conf.names, UnorderedElementsAre("joint_1/position", "joint_1/velocity"));
+  ASSERT_THAT(state_if_conf.names, UnorderedElementsAre("joint1/position", "joint1/velocity"));
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 }
 
-TEST_F(GripperControllerTest, ActivateWithWrongJointsNamesFails)
-{
-  this->SetUpController();
-
-  this->controller_->get_node()->set_parameter({"joint", "unicorn_joint"});
-
-  // activate failed, 'joint4' is not a valid joint name for the hardware
-  ASSERT_EQ(
-    this->controller_->on_configure(rclcpp_lifecycle::State()),
-    controller_interface::CallbackReturn::SUCCESS);
-  ASSERT_EQ(
-    this->controller_->on_activate(rclcpp_lifecycle::State()),
-    controller_interface::CallbackReturn::ERROR);
-}
-
 TEST_F(GripperControllerTest, ActivateSuccess)
 {
   this->SetUpController();
@@ -167,3 +158,12 @@ TEST_F(GripperControllerTest, ActivateDeactivateActivateSuccess)
     this->controller_->on_activate(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::SUCCESS);
 }
+
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleMock(&argc, argv);
+  rclcpp::init(argc, argv);
+  int result = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return result;
+}

parallel_gripper_controller/test/test_parallel_gripper_controller.hpp

@@ -42,7 +42,8 @@ class GripperControllerTest : public ::testing::Test
   void SetUp();
   void TearDown();
 
-  void SetUpController();
+  void SetUpController(
+    const std::string & controller_name, controller_interface::return_type expected_result);
   void SetUpHandles();
 
 protected: