Fix conflicts, still need to adjust InitController

Author: bmagyar

diff_drive_controller/test/test_diff_drive_controller.cpp

@@ -216,65 +216,29 @@ class TestDiffDriveController : public ::testing::Test
 
 TEST_F(TestDiffDriveController, init_fails_without_parameters)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
-=======
   const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::ERROR);
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
+  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
 
 TEST_F(TestDiffDriveController, init_fails_with_only_left_or_only_right_side_defined)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-=======
   ASSERT_EQ(InitController(left_wheel_names, {}), controller_interface::return_type::ERROR);
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
-
   ASSERT_EQ(InitController({}, right_wheel_names), controller_interface::return_type::ERROR);
 }
 
 TEST_F(TestDiffDriveController, configure_fails_with_mismatching_wheel_side_size)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("left_wheel_names", rclcpp::ParameterValue(left_wheel_names)));
-
-  auto extended_right_wheel_names = right_wheel_names;
-  extended_right_wheel_names.push_back("extra_wheel");
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("right_wheel_names", rclcpp::ParameterValue(extended_right_wheel_names)));
-=======
   ASSERT_EQ(
     InitController(left_wheel_names, {right_wheel_names[0], "extra_wheel"}),
     controller_interface::return_type::OK);
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
 
 TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("left_wheel_names", rclcpp::ParameterValue(left_wheel_names)));
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("right_wheel_names", rclcpp::ParameterValue(right_wheel_names)));
-=======
   ASSERT_EQ(InitController(), controller_interface::return_type::OK);
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
-
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   ASSERT_THAT(
@@ -287,12 +251,6 @@ TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-=======
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
   std::string odom_id = "odom";
   std::string base_link_id = "base_link";
   std::string frame_prefix = "test_prefix";
@@ -318,12 +276,6 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_names
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namespace)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-=======
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
   std::string odom_id = "odom";
   std::string base_link_id = "base_link";
   std::string frame_prefix = "test_prefix";
@@ -351,12 +303,6 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namesp
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_namespace)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-=======
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
   std::string odom_id = "odom";
   std::string base_link_id = "base_link";
   std::string frame_prefix = "";
@@ -384,13 +330,6 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_names
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_namespace)
 {
   std::string test_namespace = "/test_namespace";
-
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name, test_namespace);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-=======
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
   std::string odom_id = "odom";
   std::string base_link_id = "base_link";
   std::string frame_prefix = "test_prefix";
@@ -418,13 +357,6 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_name
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_namespace)
 {
   std::string test_namespace = "/test_namespace";
-
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name, test_namespace);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-=======
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
   std::string odom_id = "odom";
   std::string base_link_id = "base_link";
   std::string frame_prefix = "test_prefix";
@@ -454,13 +386,6 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_names
 TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_namespace)
 {
   std::string test_namespace = "/test_namespace";
-
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name, test_namespace);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-=======
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
   std::string odom_id = "odom";
   std::string base_link_id = "base_link";
   std::string frame_prefix = "";
@@ -488,31 +413,14 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name
 
 TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("left_wheel_names", rclcpp::ParameterValue(left_wheel_names)));
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("right_wheel_names", rclcpp::ParameterValue(right_wheel_names)));
-=======
   ASSERT_EQ(InitController(), controller_interface::return_type::OK);
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
-
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
   ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
 
 TEST_F(TestDiffDriveController, activate_succeeds_with_pos_resources_assigned)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-=======
   ASSERT_EQ(InitController(), controller_interface::return_type::OK);
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
-
   // We implicitly test that by default position feedback is required
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
   assignResourcesPosFeedback();
@@ -521,99 +429,47 @@ TEST_F(TestDiffDriveController, activate_succeeds_with_pos_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_succeeds_with_vel_resources_assigned)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("position_feedback", rclcpp::ParameterValue(false)));
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("left_wheel_names", rclcpp::ParameterValue(left_wheel_names)));
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("right_wheel_names", rclcpp::ParameterValue(right_wheel_names)));
-=======
   ASSERT_EQ(
     InitController(
       left_wheel_names, right_wheel_names,
       {rclcpp::Parameter("position_feedback", rclcpp::ParameterValue(false))}),
     controller_interface::return_type::OK);
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
-
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
   assignResourcesVelFeedback();
   ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 }
 
 TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_1)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("position_feedback", rclcpp::ParameterValue(false)));
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("left_wheel_names", rclcpp::ParameterValue(left_wheel_names)));
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("right_wheel_names", rclcpp::ParameterValue(right_wheel_names)));
-=======
   ASSERT_EQ(
     InitController(
       left_wheel_names, right_wheel_names,
       {rclcpp::Parameter("position_feedback", rclcpp::ParameterValue(false))}),
     controller_interface::return_type::OK);
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
-
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
   assignResourcesPosFeedback();
   ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
 
 TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("position_feedback", rclcpp::ParameterValue(true)));
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("left_wheel_names", rclcpp::ParameterValue(left_wheel_names)));
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("right_wheel_names", rclcpp::ParameterValue(right_wheel_names)));
-=======
   ASSERT_EQ(
     InitController(
       left_wheel_names, right_wheel_names,
       {rclcpp::Parameter("position_feedback", rclcpp::ParameterValue(true))}),
     controller_interface::return_type::OK);
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
-
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
   assignResourcesVelFeedback();
   ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
 
 TEST_F(TestDiffDriveController, cleanup)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("left_wheel_names", rclcpp::ParameterValue(left_wheel_names)));
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("right_wheel_names", rclcpp::ParameterValue(right_wheel_names)));
-  controller_->get_node()->set_parameter(rclcpp::Parameter("wheel_separation", 0.4));
-  controller_->get_node()->set_parameter(rclcpp::Parameter("wheel_radius", 0.1));
-=======
   ASSERT_EQ(
     InitController(
       left_wheel_names, right_wheel_names,
       {rclcpp::Parameter("wheel_separation", 0.4), rclcpp::Parameter("wheel_radius", 0.1)}),
     controller_interface::return_type::OK);
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
-
   rclcpp::executors::SingleThreadedExecutor executor;
   executor.add_node(controller_->get_node()->get_node_base_interface());
   auto state = controller_->get_node()->configure();
@@ -653,23 +509,11 @@ TEST_F(TestDiffDriveController, cleanup)
 
 TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
 {
-<<<<<<< HEAD
-  const auto ret = controller_->init(controller_name);
-  ASSERT_EQ(ret, controller_interface::return_type::OK);
-
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("left_wheel_names", rclcpp::ParameterValue(left_wheel_names)));
-  controller_->get_node()->set_parameter(
-    rclcpp::Parameter("right_wheel_names", rclcpp::ParameterValue(right_wheel_names)));
-  controller_->get_node()->set_parameter(rclcpp::Parameter("wheel_separation", 0.4));
-  controller_->get_node()->set_parameter(rclcpp::Parameter("wheel_radius", 1.0));
-=======
   ASSERT_EQ(
     InitController(
       left_wheel_names, right_wheel_names,
       {rclcpp::Parameter("wheel_separation", 0.4), rclcpp::Parameter("wheel_radius", 1.0)}),
     controller_interface::return_type::OK);
->>>>>>> 2705ca8 ([diff_drive] Remove unused parameter and add simple validation #abi-breaking (#958))
 
   rclcpp::executors::SingleThreadedExecutor executor;
   executor.add_node(controller_->get_node()->get_node_base_interface());