fix tests for the new API

ros-controls · Nov 15, 2023 · ac58998 · ac58998
1 parent 3fc0f50
commit ac58998
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Showing 2 changed files with 14 additions and 2 deletions.
diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -122,11 +122,16 @@ class TestableAdmittanceController : public admittance_controller::AdmittanceCon
     return success;
   }
 
+  rclcpp::NodeOptions get_node_options() const override { return node_options_; }
+
+  void set_node_options(const rclcpp::NodeOptions & node_options) { node_options_ = node_options; }
+
 private:
   rclcpp::WaitSet input_wrench_command_subscriber_wait_set_;
   rclcpp::WaitSet input_pose_command_subscriber_wait_set_;
   const std::string robot_description_ = ros2_control_test_assets::valid_6d_robot_urdf;
   const std::string robot_description_semantic_ = ros2_control_test_assets::valid_6d_robot_srdf;
+  rclcpp::NodeOptions node_options_;
 };
 
 class AdmittanceControllerTest : public ::testing::Test
@@ -185,7 +190,8 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result = controller_->init(controller_name, "", "", options);
+    controller_->set_node_options(options);
+    auto result = controller_->init(controller_name, "", "");
 
     controller_->export_reference_interfaces();
     assign_interfaces();

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -67,6 +67,8 @@ class TestableJointTrajectoryController
     return ret;
   }
 
+  rclcpp::NodeOptions get_node_options() const override { return node_options_; }
+
   /**
    * @brief wait_for_trajectory block until a new JointTrajectory is received.
    * Requires that the executor is not spinned elsewhere between the
@@ -146,7 +148,10 @@ class TestableJointTrajectoryController
 
   double get_cmd_timeout() { return cmd_timeout_; }
 
+  void set_node_options(const rclcpp::NodeOptions & node_options) { node_options_ = node_options; }
+
   rclcpp::WaitSet joint_cmd_sub_wait_set_;
+  rclcpp::NodeOptions node_options_;
 };
 
 class TrajectoryControllerTest : public ::testing::Test
@@ -190,8 +195,9 @@ class TrajectoryControllerTest : public ::testing::Test
     parameter_overrides.push_back(rclcpp::Parameter("state_interfaces", state_interface_types_));
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
+    traj_controller_->set_node_options(node_options);
 
-    auto ret = traj_controller_->init(controller_name_, "", "", node_options);
+    auto ret = traj_controller_->init(controller_name_, "", "");
     if (ret != controller_interface::return_type::OK)
     {
       FAIL();