controllers not initialized in the 4 steering controllers

ackermann_steering_controller/CMakeLists.txt

@@ -35,8 +35,8 @@ add_library(
 )
 target_compile_features(ackermann_steering_controller PUBLIC cxx_std_17)
 target_include_directories(ackermann_steering_controller PUBLIC
-  "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
 target_link_libraries(ackermann_steering_controller PUBLIC
   ackermann_steering_controller_parameters)
 ament_target_dependencies(ackermann_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
@@ -54,18 +54,21 @@ if(BUILD_TESTING)
   find_package(hardware_interface REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
 
-  ament_add_gmock(test_load_ackermann_steering_controller test/test_load_ackermann_steering_controller.cpp)
-  target_include_directories(test_load_ackermann_steering_controller PRIVATE include)
-  ament_target_dependencies(
-    test_load_ackermann_steering_controller
+
+  add_rostest_with_parameters_gmock(test_load_ackermann_steering_controller
+    test/test_load_ackermann_steering_controller.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_params.yaml
+  )
+  ament_target_dependencies(test_load_ackermann_steering_controller
     controller_manager
     hardware_interface
     ros2_control_test_assets
   )
 
-  add_rostest_with_parameters_gmock(
-    test_ackermann_steering_controller test/test_ackermann_steering_controller.cpp
-    ${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_params.yaml)
+  add_rostest_with_parameters_gmock(test_ackermann_steering_controller
+    test/test_ackermann_steering_controller.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_params.yaml
+  )
   target_include_directories(test_ackermann_steering_controller PRIVATE include)
   target_link_libraries(test_ackermann_steering_controller ackermann_steering_controller)
   ament_target_dependencies(

ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp

@@ -24,8 +24,6 @@
 
 TEST(TestLoadAckermannSteeringController, load_controller)
 {
-  rclcpp::init(0, nullptr);
-
   std::shared_ptr<rclcpp::Executor> executor =
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
@@ -39,6 +37,13 @@ TEST(TestLoadAckermannSteeringController, load_controller)
       "test_ackermann_steering_controller",
       "ackermann_steering_controller/AckermannSteeringController"),
     nullptr);
+}
 
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  int result = RUN_ALL_TESTS();
   rclcpp::shutdown();
+  return result;
 }

bicycle_steering_controller/CMakeLists.txt

@@ -54,10 +54,11 @@ if(BUILD_TESTING)
   find_package(hardware_interface REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
 
-  ament_add_gmock(test_load_bicycle_steering_controller test/test_load_bicycle_steering_controller.cpp)
-  target_include_directories(test_load_bicycle_steering_controller PRIVATE include)
-  ament_target_dependencies(
-    test_load_bicycle_steering_controller
+  add_rostest_with_parameters_gmock(test_load_bicycle_steering_controller
+    test/test_load_bicycle_steering_controller.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_params.yaml
+  )
+  ament_target_dependencies(test_load_bicycle_steering_controller
     controller_manager
     hardware_interface
     ros2_control_test_assets

bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp

@@ -24,8 +24,6 @@
 
 TEST(TestLoadBicycleSteeringController, load_controller)
 {
-  rclcpp::init(0, nullptr);
-
   std::shared_ptr<rclcpp::Executor> executor =
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
@@ -38,6 +36,13 @@ TEST(TestLoadBicycleSteeringController, load_controller)
     cm.load_controller(
       "test_bicycle_steering_controller", "bicycle_steering_controller/BicycleSteeringController"),
     nullptr);
+}
 
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  int result = RUN_ALL_TESTS();
   rclcpp::shutdown();
+  return result;
 }

doc/controllers_index.rst

@@ -55,7 +55,7 @@ Available Controllers
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
    Effort Controllers <../effort_controllers/doc/userdoc.rst>
    Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst>
-   
+
 
 Available Broadcasters
 **********************

tricycle_steering_controller/CMakeLists.txt

@@ -54,10 +54,11 @@ if(BUILD_TESTING)
   find_package(hardware_interface REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
 
-  ament_add_gmock(test_load_tricycle_steering_controller test/test_load_tricycle_steering_controller.cpp)
-  target_include_directories(test_load_tricycle_steering_controller PRIVATE include)
-  ament_target_dependencies(
-    test_load_tricycle_steering_controller
+  add_rostest_with_parameters_gmock(test_load_tricycle_steering_controller
+    test/test_load_tricycle_steering_controller.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/tricycle_steering_controller_params.yaml
+  )
+  ament_target_dependencies(test_load_tricycle_steering_controller
     controller_manager
     hardware_interface
     ros2_control_test_assets

tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp

@@ -24,8 +24,6 @@
 
 TEST(TestLoadTricycleSteeringController, load_controller)
 {
-  rclcpp::init(0, nullptr);
-
   std::shared_ptr<rclcpp::Executor> executor =
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
@@ -39,6 +37,13 @@ TEST(TestLoadTricycleSteeringController, load_controller)
       "test_tricycle_steering_controller",
       "tricycle_steering_controller/TricycleSteeringController"),
     nullptr);
+}
 
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  int result = RUN_ALL_TESTS();
   rclcpp::shutdown();
+  return result;
 }