Add a simple test loading limits from parameter file

diff_drive_controller/CMakeLists.txt

@@ -81,6 +81,11 @@ if(BUILD_TESTING)
     controller_manager
     ros2_control_test_assets
   )
+  ament_add_gmock(test_configure_diff_drive_controller test/test_configure_diff_drive_controller.cpp)
+  ament_target_dependencies(test_configure_diff_drive_controller
+    controller_manager
+    ros2_control_test_assets
+  )
 endif()
 
 install(

diff_drive_controller/test/config/test_diff_drive_controller.yaml

@@ -25,18 +25,18 @@ test_diff_drive_controller:
 
     linear.x.max_velocity: .NAN
     linear.x.min_velocity: .NAN
-    linear.x.max_deceleration: .NAN
     linear.x.max_acceleration: .NAN
-    linear.x.max_deceleration_reverse: .NAN
+    linear.x.max_deceleration: .NAN
     linear.x.max_acceleration_reverse: .NAN
+    linear.x.max_deceleration_reverse: .NAN
     linear.x.max_jerk: .NAN
     linear.x.min_jerk: .NAN
 
     angular.z.max_velocity: .NAN
     angular.z.min_velocity: .NAN
-    angular.z.max_deceleration: .NAN
     angular.z.max_acceleration: .NAN
-    angular.z.max_deceleration_reverse: .NAN
+    angular.z.max_deceleration: .NAN
     angular.z.max_acceleration_reverse: .NAN
+    angular.z.max_deceleration_reverse: .NAN
     angular.z.max_jerk: .NAN
     angular.z.min_jerk: .NAN

diff_drive_controller/test/config/test_diff_drive_controller_limits.yaml

@@ -0,0 +1,42 @@
+test_diff_drive_controller:
+  ros__parameters:
+    left_wheel_names: ["left_wheels"]
+    right_wheel_names: ["right_wheels"]
+
+    wheel_separation: 0.40
+    wheel_radius: 0.02
+
+    wheel_separation_multiplier: 1.0
+    left_wheel_radius_multiplier: 1.0
+    right_wheel_radius_multiplier: 1.0
+
+    odom_frame_id: odom
+    base_frame_id: base_link
+    pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+
+    position_feedback: false
+    open_loop: true
+    enable_odom_tf: true
+
+    cmd_vel_timeout: 0.5 # seconds
+    publish_limited_velocity: true
+    velocity_rolling_window_size: 10
+
+    linear.x.max_velocity: 10.0
+    linear.x.min_velocity: -10.0
+    linear.x.max_acceleration: 10.0
+    linear.x.max_deceleration: -20.0
+    linear.x.max_acceleration_reverse: -10.0
+    linear.x.max_deceleration_reverse: 20.0
+    linear.x.max_jerk: 50.0
+    linear.x.min_jerk: -50.0
+
+    angular.z.max_velocity: .NAN
+    angular.z.min_velocity: .NAN
+    angular.z.max_acceleration: .NAN
+    angular.z.max_deceleration: .NAN
+    angular.z.max_acceleration_reverse: .NAN
+    angular.z.max_deceleration_reverse: .NAN
+    angular.z.max_jerk: .NAN
+    angular.z.min_jerk: .NAN

diff_drive_controller/test/test_configure_diff_drive_controller.cpp

@@ -0,0 +1,51 @@
+// Copyright 2020 PAL Robotics SL.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gmock/gmock.h>
+#include <memory>
+
+#include "controller_manager/controller_manager.hpp"
+#include "hardware_interface/resource_manager.hpp"
+#include "rclcpp/executor.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/utilities.hpp"
+#include "ros2_control_test_assets/descriptions.hpp"
+
+TEST(TestLoadDiffDriveController, load_configure_controller)
+{
+  std::shared_ptr<rclcpp::Executor> executor =
+    std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+
+  controller_manager::ControllerManager cm(
+    executor, ros2_control_test_assets::diffbot_urdf, true, "test_controller_manager");
+  const std::string test_file_path =
+    std::string(TEST_FILES_DIRECTORY) + "/config/test_diff_drive_controller_limits.yaml";
+
+  cm.set_parameter({"test_diff_drive_controller.params_file", test_file_path});
+  cm.set_parameter(
+    {"test_diff_drive_controller.type", "diff_drive_controller/DiffDriveController"});
+  auto ctr = cm.load_controller("test_diff_drive_controller");
+  ASSERT_NE(ctr, nullptr);
+  ASSERT_EQ(
+    ctr->on_configure(rclcpp_lifecycle::State()), controller_interface::CallbackReturn::SUCCESS);
+}
+
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  int result = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return result;
+}