Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add more parameter overriding tests from parsing multiple parameter files #1899

Merged
merged 2 commits into from
Nov 29, 2024
Merged

Add more parameter overriding tests from parsing multiple parameter files #1899

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
47c4c2e
Add spawner parameters overriding test
saikishor Nov 29, 2024
900bfb2
Add tests to also test the reverse overriding order
saikishor Nov 29, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions controller_manager/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -210,6 +210,9 @@ if(BUILD_TESTING)
install(FILES test/test_controller_spawner_with_type.yaml
DESTINATION test)

install(FILES test/test_controller_overriding_parameters.yaml
DESTINATION test)

ament_add_gmock(test_hardware_management_srvs
test/test_hardware_management_srvs.cpp
)
Expand Down
5 changes: 5 additions & 0 deletions controller_manager/test/test_controller_overriding_parameters.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
ctrl_with_parameters_and_type:
ros__parameters:
interface_name: "impedance"
joint_offset: 0.2
joint_names: ["joint10"]
1 change: 1 addition & 0 deletions controller_manager/test/test_controller_spawner_with_type.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@ ctrl_with_parameters_and_type:
ros__parameters:
type: "controller_manager/test_controller"
joint_names: ["joint0"]
interface_name: "position"

/**:
chainable_ctrl_with_parameters_and_type:
Expand Down
114 changes: 114 additions & 0 deletions controller_manager/test/test_spawner_unspawner.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -291,6 +291,12 @@ TEST_F(TestLoadController, spawner_test_with_params_file_string_parameter)
ASSERT_THAT(
ctrl_node->get_parameter("joint_names").as_string_array(),
std::vector<std::string>({"joint0"}));

if (!ctrl_node->has_parameter("interface_name"))
{
ctrl_node->declare_parameter("interface_name", "invalid_interface");
}
ASSERT_EQ(ctrl_node->get_parameter("interface_name").as_string(), "position");
}

TEST_F(TestLoadController, spawner_test_type_in_params_file)
Expand Down Expand Up @@ -397,6 +403,114 @@ TEST_F(TestLoadController, unload_on_kill_activate_as_group)
ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul);
}

TEST_F(TestLoadController, spawner_test_to_check_parameter_overriding)
{
const std::string main_test_file_path =
ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";
const std::string overriding_test_file_path =
ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_overriding_parameters.yaml";

ControllerManagerRunner cm_runner(this);
EXPECT_EQ(
call_spawner(
"ctrl_with_parameters_and_type --load-only -c "
"test_controller_manager -p " +
main_test_file_path + " -p " + overriding_test_file_path),
0);

ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul);

auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_THAT(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string_array(),
std::vector<std::string>({main_test_file_path, overriding_test_file_path}));
auto ctrl_node = ctrl_with_parameters_and_type.c->get_node();
ASSERT_THAT(
ctrl_with_parameters_and_type.info.parameters_files,
std::vector<std::string>({main_test_file_path, overriding_test_file_path}));
if (!ctrl_node->has_parameter("joint_names"))
{
ctrl_node->declare_parameter("joint_names", std::vector<std::string>({"random_joint"}));
}
ASSERT_THAT(
ctrl_node->get_parameter("joint_names").as_string_array(),
std::vector<std::string>({"joint10"}));

if (!ctrl_node->has_parameter("interface_name"))
{
ctrl_node->declare_parameter("interface_name", "invalid_interface");
}
ASSERT_EQ(ctrl_node->get_parameter("interface_name").as_string(), "impedance")
<< "The parameter should be overridden";

if (!ctrl_node->has_parameter("joint_offset"))
{
ctrl_node->declare_parameter("joint_offset", -M_PI);
}
ASSERT_EQ(ctrl_node->get_parameter("joint_offset").as_double(), 0.2);
}

TEST_F(TestLoadController, spawner_test_to_check_parameter_overriding_reverse)
{
const std::string main_test_file_path =
ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_overriding_parameters.yaml";
const std::string overriding_test_file_path =
ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";

ControllerManagerRunner cm_runner(this);
EXPECT_EQ(
call_spawner(
"ctrl_with_parameters_and_type --load-only -c "
"test_controller_manager -p " +
main_test_file_path + " -p " + overriding_test_file_path),
0);

ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul);

auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_THAT(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string_array(),
std::vector<std::string>({main_test_file_path, overriding_test_file_path}));
auto ctrl_node = ctrl_with_parameters_and_type.c->get_node();
ASSERT_THAT(
ctrl_with_parameters_and_type.info.parameters_files,
std::vector<std::string>({main_test_file_path, overriding_test_file_path}));
if (!ctrl_node->has_parameter("joint_names"))
{
ctrl_node->declare_parameter("joint_names", std::vector<std::string>({"random_joint"}));
}
ASSERT_THAT(
ctrl_node->get_parameter("joint_names").as_string_array(),
std::vector<std::string>({"joint0"}));

if (!ctrl_node->has_parameter("interface_name"))
{
ctrl_node->declare_parameter("interface_name", "invalid_interface");
}
ASSERT_EQ(ctrl_node->get_parameter("interface_name").as_string(), "position")
<< "The parameter should be overridden";

if (!ctrl_node->has_parameter("joint_offset"))
{
ctrl_node->declare_parameter("joint_offset", -M_PI);
}
ASSERT_EQ(ctrl_node->get_parameter("joint_offset").as_double(), 0.2);
}

TEST_F(TestLoadController, spawner_test_fallback_controllers)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
Expand Down