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fix parallel_gripper_controller failing tests #1210

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merged 4 commits into from
Jul 16, 2024
Merged

fix parallel_gripper_controller failing tests #1210

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3dba958
fix parallel_gripper_controller failing tests
saikishor Jul 16, 2024
c4ce8c4
Merge branch 'master' into fix/parallel_gripper_controller/tests
saikishor Jul 16, 2024
38df3ea
readd testing od empty joint name and no declared parameters
saikishor Jul 16, 2024
c8de8b8
GPL make sure the defined joint is not empty
saikishor Jul 16, 2024
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14 changes: 8 additions & 6 deletions parallel_gripper_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
)
Expand Down
2 changes: 1 addition & 1 deletion ...ontroller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp
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Expand Up @@ -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)
{
Expand Down Expand Up @@ -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;
}
Expand Down
3 changes: 3 additions & 0 deletions parallel_gripper_controller/src/gripper_action_controller_parameters.yaml
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Expand Up @@ -11,6 +11,9 @@ parallel_gripper_action_controller:
joint: {
type: string,
read_only: true,
validation: {
not_empty<>: null
}
}
state_interfaces: {
type: string_array,
Expand Down
7 changes: 7 additions & 0 deletions parallel_gripper_controller/test/gripper_action_controller_params.yaml
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@@ -0,0 +1,7 @@
test_gripper_action_position_controller:
ros__parameters:
joint: "joint1"

test_gripper_action_position_controller_empty_joint:
ros__parameters:
joint: ""
16 changes: 9 additions & 7 deletions parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp
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Expand Up @@ -22,8 +22,6 @@

TEST(TestLoadGripperActionControllers, load_controller)
{
rclcpp::init(0, nullptr);

std::shared_ptr<rclcpp::Executor> executor =
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

Expand All @@ -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;
}
54 changes: 27 additions & 27 deletions parallel_gripper_controller/test/test_parallel_gripper_controller.cpp
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Expand Up @@ -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()
{
Expand All @@ -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_);
Expand All @@ -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(
Expand All @@ -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(
Expand All @@ -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(
Expand All @@ -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();
Expand Down Expand Up @@ -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;
}
3 changes: 2 additions & 1 deletion parallel_gripper_controller/test/test_parallel_gripper_controller.hpp
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Expand Up @@ -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:
Expand Down
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