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test: ✅ add activation_and_receive_command #441

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test: ✅ add activation_and_receive_command #441

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62 changes: 21 additions & 41 deletions joint_trajectory_controller/test/test_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -199,47 +199,27 @@ TEST_P(TrajectoryControllerTestParameterized, activate)
executor.cancel();
}

// TEST_F(TestTrajectoryController, activation) {
// auto traj_controller = std::make_shared<ros_controllers::JointTrajectoryController>(
// joint_names_, op_mode_);
// auto ret = traj_controller->init(test_robot_, controller_name_);
// if (ret != controller_interface::return_type::OK) {
// FAIL();
// }
//
// auto traj_node = traj_controller->get_node();
// rclcpp::executors::MultiThreadedExecutor executor;
// executor.add_node(traj_node->get_node_base_interface());
//
// auto state = traj_controller_->configure();
// ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
//
// state = traj_node->activate();
// ASSERT_EQ(state.id(), State::PRIMARY_STATE_ACTIVE);
//
// // wait for the subscriber and publisher to completely setup
// std::this_thread::sleep_for(std::chrono::seconds(2));
//
// // send msg
// builtin_interfaces::msg::Duration time_from_start;
// time_from_start.sec = 1;
// time_from_start.nanosec = 0;
// std::vector<std::vector<double>> points {{{3.3, 4.4, 5.5}}};
// publish(time_from_start, points, rclcpp::Time());
// // wait for msg is be published to the system
// std::this_thread::sleep_for(std::chrono::milliseconds(1000));
// executor.spin_once();
//
// traj_controller->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
// resource_manager_->write();
//
// // change in hw position
// EXPECT_EQ(3.3, joint_pos_[0]);
// EXPECT_EQ(4.4, joint_pos_[1]);
// EXPECT_EQ(5.5, joint_pos_[2]);
//
// executor.cancel();
// }
TEST_F(TrajectoryControllerTest, receive_command)
{
rclcpp::executors::MultiThreadedExecutor executor;
SetUpAndActivateTrajectoryController(executor);

// send msg
auto duration = rclcpp::Duration::from_nanoseconds(1);
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Try to set it to 0 or remove it completely

builtin_interfaces::msg::Duration time_from_start{duration};
std::vector<std::vector<double>> points{{{3.3, 4.4, 5.5}}};
publish(time_from_start, points, rclcpp::Time());
EXPECT_TRUE(traj_controller_->wait_for_trajectory(executor));

updateController(duration);

// change in hw position
EXPECT_EQ(points[0][0], joint_pos_[0]);
EXPECT_EQ(points[0][1], joint_pos_[1]);
EXPECT_EQ(points[0][2], joint_pos_[2]);

executor.cancel();
}

// TEST_F(TestTrajectoryController, reactivation) {
// auto traj_controller = std::make_shared<ros_controllers::JointTrajectoryController>(
Expand Down