Fixes tests to work with use_global_arguments NodeOptions parameter

[saikishor]

Needs: ros-controls/ros2_control#1701

Fixes: #1252
Fixes: #1253
Fixes: #1254
Fixes: #1255

[christophfroehlich]

why don't we need the changes for admittance controller and range_sensor_broadcaster?
the tests succeed, which means that they load successfully without parameters?
Shouldn't we check if they initialized properly?

1: [ERROR] [1724184278.166220317] [load_admittance_controller]: Exception thrown during init stage with message: parameter 'joints' is not initialized 
1: 
1: [ERROR] [1724184278.166266164] [test_controller_manager]: Could not initialize the controller named 'load_admittance_controller'
1: [       OK ] TestLoadAdmittanceController.load_controller (40 ms)

range_sensor_broadcaster initializes fine, I guess it doesn't need non-default parameters.

[saikishor]

@christophfroehlich it's probable that they are returning successful even without parameters. That's the only explanation. I could try fixing them tomorrow.

[christophfroehlich]

@christophfroehlich it's probable that they are returning successful even without parameters. That's the only explanation. I could try fixing them tomorrow.

but it throws the exception, and CM::add_controller_impl should return nullptr..

Furthermore, I'm not sure why load_JTC succeeds. it should throw an error without paramaters, but I only see

1: [INFO] [1724185010.487326696] [test_controller_manager]: Subscribing to '/robot_description' topic for robot description.
1: [INFO] [1724185010.487412910] [test_controller_manager]: Loading controller 'test_joint_trajectory_controller'
1: [ERROR] [1724185010.496710000] [test_joint_trajectory_controller]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:423, at ./src/rcl_lifecycle.c:368
1: [WARN] [1724185010.496722342] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(unconfigured)
1: [       OK ] TestLoadJointStateController.load_controller (40 ms)

This is not really linked to this PR here. I suggest applying the same changes to admittance_ctrl and range_sensor_broadcaster (the only controllers using a yaml file which are not already addressed) and create a follow-up issue for those false-positive tests.

[saikishor]

Ok. I'm outside right now. I'll try to do that sooner

[saikishor]

@christophfroehlich applied the fix to both the controllers as well

[christophfroehlich]

LGTM

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 80.43%. Comparing base (4a6456f) to head (e4de843).
Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1256      +/-   ##
==========================================
+ Coverage   80.40%   80.43%   +0.02%     
==========================================
  Files         105      105              
  Lines        9331     9353      +22     
  Branches      816      818       +2     
==========================================
+ Hits         7503     7523      +20     
  Misses       1556     1556              
- Partials      272      274       +2     

Flag	Coverage Δ
unittests	80.43% <100.00%> (+0.02%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...r/test/test_load_ackermann_steering_controller.cpp	100.00% <100.00%> (ø)
...ontroller/test/test_load_admittance_controller.cpp	100.00% <100.00%> (ø)
...ler/test/test_load_bicycle_steering_controller.cpp	100.00% <100.00%> (ø)
...ontroller/test/test_load_diff_drive_controller.cpp	100.00% <100.00%> (ø)
...test/test_load_force_torque_sensor_broadcaster.cpp	100.00% <100.00%> (ø)
...adcaster/test/test_load_imu_sensor_broadcaster.cpp	100.00% <100.00%> (ø)
...t/test_load_parallel_gripper_action_controller.cpp	100.00% <100.00%> (ø)
...caster/test/test_load_range_sensor_broadcaster.cpp	100.00% <100.00%> (ø)
..._controller/test/test_load_tricycle_controller.cpp	100.00% <100.00%> (ø)
...er/test/test_load_tricycle_steering_controller.cpp	100.00% <100.00%> (ø)

... and 2 files with indirect coverage changes

[bmagyar]

Thank you!