From 74d376e0bf3da8f673c43b1d05384e84a5936976 Mon Sep 17 00:00:00 2001
From: "Dr. Denis" <denis@stoglrobotics.de>
Date: Thu, 9 Jan 2025 16:44:17 +0100
Subject: [PATCH] Update
 controller_manager/test/test_hardware_management_srvs.cpp

---
 .../test/test_hardware_management_srvs.cpp             | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/controller_manager/test/test_hardware_management_srvs.cpp b/controller_manager/test/test_hardware_management_srvs.cpp
index 9e16a70e41..167e062c24 100644
--- a/controller_manager/test/test_hardware_management_srvs.cpp
+++ b/controller_manager/test/test_hardware_management_srvs.cpp
@@ -356,10 +356,10 @@ class TestControllerManagerHWManagementSrvsNotLoaded : public TestControllerMana
   void SetUp() override
   {
     executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-    cm_ = std::make_shared<controller_manager::ControllerManager>(
-      std::make_unique<hardware_interface::ResourceManager>(), executor_, TEST_CM_NAME);
+    cm_ = std::make_shared<controller_manager::ControllerManager>(executor_, TEST_CM_NAME);
     run_updater_ = false;
 
+    SetUpSrvsCMExecutor();
     cm_->set_parameter(rclcpp::Parameter(
       "hardware_components_initial_state.not_loaded",
       std::vector<std::string>({TEST_SYSTEM_HARDWARE_NAME})));
@@ -367,14 +367,10 @@ class TestControllerManagerHWManagementSrvsNotLoaded : public TestControllerMana
       "hardware_components_initial_state.inactive",
       std::vector<std::string>({TEST_SENSOR_HARDWARE_NAME, TEST_ACTUATOR_HARDWARE_NAME})));
 
-    cm_ = std::make_shared<controller_manager::ControllerManager>(executor_, TEST_CM_NAME);
-    run_updater_ = false;
-
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
     auto msg = std_msgs::msg::String();
     msg.data = ros2_control_test_assets::minimal_robot_urdf;
     cm_->robot_description_callback(msg);
-    
-    SetUpSrvsCMExecutor();
   }
 };