diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp index 480e90e166..ef5454a16c 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp @@ -46,41 +46,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_); } -TEST_F(AckermannSteeringControllerTest, check_exported_intefaces) +TEST_F(AckermannSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_LEFT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_RIGHT_WHEEL], + cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL], front_wheels_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_LEFT_WHEEL], + cmd_if_conf.names[CMD_STEER_LEFT_WHEEL], front_wheels_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL], + state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_LEFT_WHEEL], + state_if_conf.names[STATE_TRACTION_LEFT_WHEEL], controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_RIGHT_WHEEL], + state_if_conf.names[STATE_STEER_RIGHT_WHEEL], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_LEFT_WHEEL], + state_if_conf.names[STATE_STEER_LEFT_WHEEL], controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfsTIME auto reference_interfaces = controller_->export_reference_interfaces(); diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp index 80258258c2..0352a79cab 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp @@ -62,7 +62,7 @@ class TestableAckermannSteeringController : public ackermann_steering_controller::AckermannSteeringController { FRIEND_TEST(AckermannSteeringControllerTest, all_parameters_set_configure_success); - FRIEND_TEST(AckermannSteeringControllerTest, check_exported_intefaces); + FRIEND_TEST(AckermannSteeringControllerTest, check_exported_interfaces); FRIEND_TEST(AckermannSteeringControllerTest, activate_success); FRIEND_TEST(AckermannSteeringControllerTest, update_success); FRIEND_TEST(AckermannSteeringControllerTest, deactivate_success); diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp index 2d951588c5..1a16bed838 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp @@ -48,41 +48,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_); } -TEST_F(AckermannSteeringControllerTest, check_exported_intefaces) +TEST_F(AckermannSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_LEFT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], preceeding_prefix_ + "/" + rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_RIGHT_WHEEL], + cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL], preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_LEFT_WHEEL], + cmd_if_conf.names[CMD_STEER_LEFT_WHEEL], preceeding_prefix_ + "/" + front_wheels_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL], + state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_LEFT_WHEEL], + state_if_conf.names[STATE_TRACTION_LEFT_WHEEL], controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_RIGHT_WHEEL], + state_if_conf.names[STATE_STEER_RIGHT_WHEEL], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_LEFT_WHEEL], + state_if_conf.names[STATE_STEER_LEFT_WHEEL], controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfs auto reference_interfaces = controller_->export_reference_interfaces(); diff --git a/admittance_controller/test/test_admittance_controller.cpp b/admittance_controller/test/test_admittance_controller.cpp index fe1d3214e0..6b03249df8 100644 --- a/admittance_controller/test/test_admittance_controller.cpp +++ b/admittance_controller/test/test_admittance_controller.cpp @@ -157,12 +157,15 @@ TEST_F(AdmittanceControllerTest, check_interfaces) auto command_interfaces = controller_->command_interface_configuration(); ASSERT_EQ(command_interfaces.names.size(), joint_command_values_.size()); + EXPECT_EQ( + command_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL); ASSERT_EQ( controller_->command_interfaces_.size(), command_interface_types_.size() * joint_names_.size()); auto state_interfaces = controller_->state_interface_configuration(); ASSERT_EQ(state_interfaces.names.size(), joint_state_values_.size() + fts_state_values_.size()); + EXPECT_EQ(state_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL); ASSERT_EQ( controller_->state_interfaces_.size(), diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp index 06b0c7e846..3dcdc0b1db 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp @@ -44,29 +44,29 @@ TEST_F(BicycleSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->bicycle_params_.rear_wheel_radius, rear_wheels_radius_); } -TEST_F(BicycleSteeringControllerTest, check_exported_intefaces) +TEST_F(BicycleSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_WHEEL], - rear_wheels_names_[0] + "/" + traction_interface_name_); + cmd_if_conf.names[CMD_TRACTION_WHEEL], rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_WHEEL], - front_wheels_names_[0] + "/" + steering_interface_name_); + cmd_if_conf.names[CMD_STEER_WHEEL], front_wheels_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_WHEEL], + state_if_conf.names[STATE_TRACTION_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_AXIS], + state_if_conf.names[STATE_STEER_AXIS], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfsTIME auto reference_interfaces = controller_->export_reference_interfaces(); diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp index 065f9e1a0d..b82509440b 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp @@ -60,7 +60,7 @@ class TestableBicycleSteeringController : public bicycle_steering_controller::BicycleSteeringController { FRIEND_TEST(BicycleSteeringControllerTest, all_parameters_set_configure_success); - FRIEND_TEST(BicycleSteeringControllerTest, check_exported_intefaces); + FRIEND_TEST(BicycleSteeringControllerTest, check_exported_interfaces); FRIEND_TEST(BicycleSteeringControllerTest, activate_success); FRIEND_TEST(BicycleSteeringControllerTest, update_success); FRIEND_TEST(BicycleSteeringControllerTest, deactivate_success); diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp index 875910ba23..bc3a182753 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp @@ -46,31 +46,31 @@ TEST_F(BicycleSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->bicycle_params_.rear_wheel_radius, rear_wheels_radius_); } -TEST_F(BicycleSteeringControllerTest, check_exported_intefaces) +TEST_F(BicycleSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_WHEEL], + cmd_if_conf.names[CMD_TRACTION_WHEEL], preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); - EXPECT_EQ( - command_intefaces.names[CMD_STEER_WHEEL], + cmd_if_conf.names[CMD_STEER_WHEEL], preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); - + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_WHEEL], + state_if_conf.names[STATE_TRACTION_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_AXIS], + state_if_conf.names[STATE_STEER_AXIS], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfs auto reference_interfaces = controller_->export_reference_interfaces(); diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp index edaaa84e4b..db89d4f873 100644 --- a/diff_drive_controller/test/test_diff_drive_controller.cpp +++ b/diff_drive_controller/test/test_diff_drive_controller.cpp @@ -247,12 +247,12 @@ TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS); - ASSERT_THAT( - controller_->state_interface_configuration().names, - SizeIs(left_wheel_names.size() + right_wheel_names.size())); - ASSERT_THAT( - controller_->command_interface_configuration().names, - SizeIs(left_wheel_names.size() + right_wheel_names.size())); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(left_wheel_names.size() + right_wheel_names.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, SizeIs(left_wheel_names.size() + right_wheel_names.size())); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace) diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp index b98bc8c560..b9e634ff55 100644 --- a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp +++ b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp @@ -162,8 +162,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Configure_Success) // check interface configuration auto cmd_if_conf = fts_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = fts_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(6lu)); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Configure_Success) @@ -196,8 +198,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_ActivateDeactivate_Success) // check interface configuration auto cmd_if_conf = fts_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = fts_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(6lu)); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // deactivate passed ASSERT_EQ(fts_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -205,8 +209,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_ActivateDeactivate_Success) // check interface configuration cmd_if_conf = fts_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); state_if_conf = fts_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(6lu)); // did not change + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Update_Success) diff --git a/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp index 338c569ec6..bdaa143128 100644 --- a/forward_command_controller/test/test_forward_command_controller.cpp +++ b/forward_command_controller/test/test_forward_command_controller.cpp @@ -137,6 +137,7 @@ TEST_F(ForwardCommandControllerTest, ConfigureParamsSuccess) ASSERT_THAT(cmd_if_conf.names, SizeIs(2lu)); auto state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); } TEST_F(ForwardCommandControllerTest, ActivateWithWrongJointsNamesFails) @@ -189,6 +190,7 @@ TEST_F(ForwardCommandControllerTest, ActivateSuccess) ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); auto state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); ASSERT_EQ( controller_->on_activate(rclcpp_lifecycle::State()), @@ -197,8 +199,10 @@ TEST_F(ForwardCommandControllerTest, ActivateSuccess) // check interface configuration cmd_if_conf = controller_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); } TEST_F(ForwardCommandControllerTest, CommandSuccessTest) @@ -352,6 +356,7 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess) EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); auto state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); node_state = controller_->get_node()->activate(); ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); @@ -359,8 +364,10 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess) // check interface configuration cmd_if_conf = controller_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); auto command_msg = std::make_shared(); command_msg->data = {10.0, 20.0, 30.0}; @@ -383,8 +390,10 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess) // check interface configuration cmd_if_conf = controller_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); // did not change + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); // command ptr should be reset (nullptr) after deactivation - same check as in `update` ASSERT_FALSE( diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp index 4942deb0bf..d50aa587c4 100644 --- a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp +++ b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp @@ -297,6 +297,7 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); auto state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); // send command auto command_ptr = std::make_shared(); @@ -322,6 +323,7 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); // command ptr should be reset (nullptr) after deactivation - same check as in `update` ASSERT_FALSE( diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp index f336ece2ad..0886748293 100644 --- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp +++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp @@ -120,8 +120,10 @@ TEST_F(IMUSensorBroadcasterTest, SensorName_Configure_Success) // check interface configuration auto cmd_if_conf = imu_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = imu_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(10lu)); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(IMUSensorBroadcasterTest, SensorName_Activate_Success) @@ -139,8 +141,10 @@ TEST_F(IMUSensorBroadcasterTest, SensorName_Activate_Success) // check interface configuration auto cmd_if_conf = imu_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = imu_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(10lu)); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // deactivate passed ASSERT_EQ(imu_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -148,8 +152,10 @@ TEST_F(IMUSensorBroadcasterTest, SensorName_Activate_Success) // check interface configuration cmd_if_conf = imu_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); state_if_conf = imu_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(10lu)); // did not change + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(IMUSensorBroadcasterTest, SensorName_Update_Success) diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp index cfe985b638..04bf10089a 100644 --- a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp @@ -180,8 +180,10 @@ TEST_F(JointStateBroadcasterTest, ActivateEmptyTest) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::ALL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -227,8 +229,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestWithoutJointsParameter) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::ALL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -274,8 +278,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestWithoutInterfacesParameter) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::ALL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -321,8 +327,10 @@ TEST_F(JointStateBroadcasterTest, ActivateDeactivateTestTwoJointsOneInterface) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -360,9 +368,11 @@ TEST_F(JointStateBroadcasterTest, ActivateDeactivateTestTwoJointsOneInterface) // check interface configuration cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT( state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); // does not change + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(JointStateBroadcasterTest, ActivateTestOneJointTwoInterfaces) @@ -381,8 +391,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestOneJointTwoInterfaces) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -455,8 +467,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestTwoJointTwoInterfacesOneMissing) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -504,8 +518,10 @@ TEST_F(JointStateBroadcasterTest, TestCustomInterfaceWithoutMapping) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // joint state initialized const auto & joint_state_msg = state_broadcaster_->realtime_joint_state_publisher_->msg_; @@ -547,8 +563,10 @@ TEST_F(JointStateBroadcasterTest, TestCustomInterfaceMapping) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // joint state initialized const auto & joint_state_msg = state_broadcaster_->realtime_joint_state_publisher_->msg_; diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp index 119fb58b4d..6d0057c8f8 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp @@ -120,13 +120,13 @@ TEST_P(TrajectoryControllerTestParameterized, activate) auto state = traj_controller_->get_node()->configure(); ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE); - auto cmd_interface_config = traj_controller_->command_interface_configuration(); - ASSERT_EQ( - cmd_interface_config.names.size(), joint_names_.size() * command_interface_types_.size()); + auto cmd_if_conf = traj_controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_names_.size() * command_interface_types_.size()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_interface_config = traj_controller_->state_interface_configuration(); - ASSERT_EQ( - state_interface_config.names.size(), joint_names_.size() * state_interface_types_.size()); + auto state_if_conf = traj_controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_names_.size() * state_interface_types_.size()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); state = ActivateTrajectoryController(); ASSERT_EQ(state.id(), State::PRIMARY_STATE_ACTIVE); diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp index e44fec4b0c..ed2aeadab1 100644 --- a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp +++ b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp @@ -154,8 +154,10 @@ TEST_F(RangeSensorBroadcasterTest, ActivateDeactivate_RangeBroadcaster_Success) // check interface configuration auto cmd_if_conf = range_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = range_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(1lu)); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); ASSERT_EQ( range_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), @@ -164,8 +166,10 @@ TEST_F(RangeSensorBroadcasterTest, ActivateDeactivate_RangeBroadcaster_Success) // check interface configuration cmd_if_conf = range_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); state_if_conf = range_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(1lu)); // did not change + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(RangeSensorBroadcasterTest, Update_RangeBroadcaster_Success) diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp index 81075d1082..0217567a26 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.cpp +++ b/steering_controllers_library/test/test_steering_controllers_library.cpp @@ -28,41 +28,43 @@ class SteeringControllersLibraryTest }; // checking if all interfaces, command, state and reference are exported as expected -TEST_F(SteeringControllersLibraryTest, check_exported_intefaces) +TEST_F(SteeringControllersLibraryTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_LEFT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_RIGHT_WHEEL], + cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL], front_wheels_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_LEFT_WHEEL], + cmd_if_conf.names[CMD_STEER_LEFT_WHEEL], front_wheels_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL], + state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_LEFT_WHEEL], + state_if_conf.names[STATE_TRACTION_LEFT_WHEEL], controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_RIGHT_WHEEL], + state_if_conf.names[STATE_STEER_RIGHT_WHEEL], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_LEFT_WHEEL], + state_if_conf.names[STATE_STEER_LEFT_WHEEL], controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfsTIME auto reference_interfaces = controller_->export_reference_interfaces(); diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp index c72c61257a..8a0d21cc6c 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.hpp +++ b/steering_controllers_library/test/test_steering_controllers_library.hpp @@ -73,7 +73,7 @@ constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; class TestableSteeringControllersLibrary : public steering_controllers_library::SteeringControllersLibrary { - FRIEND_TEST(SteeringControllersLibraryTest, check_exported_intefaces); + FRIEND_TEST(SteeringControllersLibraryTest, check_exported_interfaces); FRIEND_TEST(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout); public: diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp index 82ba924305..c555de53de 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp @@ -45,46 +45,47 @@ TEST_F(TricycleSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->tricycle_params_.wheel_track, wheel_track_); } -TEST_F(TricycleSteeringControllerTest, check_exported_intefaces) +TEST_F(TricycleSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_LEFT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_WHEEL], - front_wheels_names_[0] + "/" + steering_interface_name_); + cmd_if_conf.names[CMD_STEER_WHEEL], front_wheels_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL], + state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_LEFT_WHEEL], + state_if_conf.names[STATE_TRACTION_LEFT_WHEEL], controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_AXIS], + state_if_conf.names[STATE_STEER_AXIS], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - // check ref itfsTIME - auto reference_interfaces = controller_->export_reference_interfaces(); - ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size()); + // check ref itfs + auto ref_if_conf = controller_->export_reference_interfaces(); + ASSERT_EQ(ref_if_conf.size(), joint_reference_interfaces_.size()); for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i]; - EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); - EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]); + EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name); + EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]); } } diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp index 422f399ad4..c2528e1fc9 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp @@ -61,7 +61,7 @@ class TestableTricycleSteeringController : public tricycle_steering_controller::TricycleSteeringController { FRIEND_TEST(TricycleSteeringControllerTest, all_parameters_set_configure_success); - FRIEND_TEST(TricycleSteeringControllerTest, check_exported_intefaces); + FRIEND_TEST(TricycleSteeringControllerTest, check_exported_interfaces); FRIEND_TEST(TricycleSteeringControllerTest, activate_success); FRIEND_TEST(TricycleSteeringControllerTest, update_success); FRIEND_TEST(TricycleSteeringControllerTest, deactivate_success); diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp index dd72332875..6f2913aeb8 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp @@ -47,46 +47,48 @@ TEST_F(TricycleSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->tricycle_params_.wheel_track, wheel_track_); } -TEST_F(TricycleSteeringControllerTest, check_exported_intefaces) +TEST_F(TricycleSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_LEFT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], preceeding_prefix_ + "/" + rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_WHEEL], + cmd_if_conf.names[CMD_STEER_WHEEL], preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL], + state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_LEFT_WHEEL], + state_if_conf.names[STATE_TRACTION_LEFT_WHEEL], controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_AXIS], + state_if_conf.names[STATE_STEER_AXIS], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfs - auto reference_interfaces = controller_->export_reference_interfaces(); - ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size()); + auto ref_if_conf = controller_->export_reference_interfaces(); + ASSERT_EQ(ref_if_conf.size(), joint_reference_interfaces_.size()); for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i]; - EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); - EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]); + EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name); + EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]); } }