Add more parameter overriding tests by parsing multiple parameter fil…

…es (#1899)
ros-controls · Dec 3, 2024 · 825ebfa · 825ebfa
1 parent d41c2a0
commit 825ebfa
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Showing 4 changed files with 15 additions and 0 deletions.
diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -186,6 +186,9 @@ if(BUILD_TESTING)
   install(FILES test/test_controller_spawner_with_type.yaml
   DESTINATION test)
 
+  install(FILES test/test_controller_overriding_parameters.yaml
+    DESTINATION test)
+
   ament_add_gmock(
     test_hardware_management_srvs
     test/test_hardware_management_srvs.cpp

diff --git a/controller_manager/test/test_controller_overriding_parameters.yaml b/controller_manager/test/test_controller_overriding_parameters.yaml
@@ -0,0 +1,5 @@
+ctrl_with_parameters_and_type:
+  ros__parameters:
+    interface_name: "impedance"
+    joint_offset: 0.2
+    joint_names: ["joint10"]
diff --git a/controller_manager/test/test_controller_spawner_with_type.yaml b/controller_manager/test/test_controller_spawner_with_type.yaml
@@ -2,6 +2,7 @@ ctrl_with_parameters_and_type:
   ros__parameters:
     type: "controller_manager/test_controller"
     joint_names: ["joint0"]
+    interface_name: "position"
 
 /**:
   chainable_ctrl_with_parameters_and_type:

diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
@@ -256,6 +256,12 @@ TEST_F(TestLoadController, spawner_test_with_params_file_string_parameter)
   ASSERT_THAT(
     ctrl_node->get_parameter("joint_names").as_string_array(),
     std::vector<std::string>({"joint0"}));
+
+  if (!ctrl_node->has_parameter("interface_name"))
+  {
+    ctrl_node->declare_parameter("interface_name", "invalid_interface");
+  }
+  ASSERT_EQ(ctrl_node->get_parameter("interface_name").as_string(), "position");
 }
 
 TEST_F(TestLoadController, spawner_test_type_in_arg)