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Renovate JTC action tests #603

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Merged
merged 2 commits into from
May 9, 2023
Merged

Renovate JTC action tests #603

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aace4f0
Renovate JTC action tests
christophfroehlich May 8, 2023
8bd6d0c
Remove TODO comments
christophfroehlich May 9, 2023
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13 changes: 6 additions & 7 deletions joint_trajectory_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -80,13 +80,12 @@ if(BUILD_TESTING)
ros2_control_test_assets
)

# TODO(andyz): Disabled due to flakiness
# ament_add_gmock(test_trajectory_actions
# test/test_trajectory_actions.cpp
# )
# target_link_libraries(test_trajectory_actions
# joint_trajectory_controller
# )
ament_add_gmock(test_trajectory_actions
test/test_trajectory_actions.cpp
)
target_link_libraries(test_trajectory_actions
joint_trajectory_controller
)
endif()


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22 changes: 9 additions & 13 deletions joint_trajectory_controller/test/test_trajectory_actions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,17 +70,13 @@ class TestTrajectoryActions : public TrajectoryControllerTest
{
setup_executor_ = true;

executor_ = std::make_unique<rclcpp::executors::MultiThreadedExecutor>();

SetUpAndActivateTrajectoryController(true, parameters);

executor_->add_node(traj_controller_->get_node()->get_node_base_interface());
SetUpAndActivateTrajectoryController(executor_, true, parameters);

SetUpActionClient();

executor_->add_node(node_->get_node_base_interface());
executor_.add_node(node_->get_node_base_interface());

executor_future_handle_ = std::async(std::launch::async, [&]() -> void { executor_->spin(); });
executor_future_handle_ = std::async(std::launch::async, [&]() -> void { executor_.spin(); });
}

void SetUpControllerHardware()
Expand Down Expand Up @@ -132,7 +128,7 @@ class TestTrajectoryActions : public TrajectoryControllerTest
if (setup_executor_)
{
setup_executor_ = false;
executor_->cancel();
executor_.cancel();
executor_future_handle_.wait();
}
}
Expand Down Expand Up @@ -169,7 +165,7 @@ class TestTrajectoryActions : public TrajectoryControllerTest
int common_action_result_code_ = control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL;

bool setup_executor_ = false;
rclcpp::executors::MultiThreadedExecutor::UniquePtr executor_;
rclcpp::executors::MultiThreadedExecutor executor_;
std::future<void> executor_future_handle_;

bool setup_controller_hw_ = false;
Expand Down Expand Up @@ -417,7 +413,7 @@ TEST_F(TestTrajectoryActions, test_state_tolerances_fail)
common_action_result_code_);

// run an update, it should be holding
traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
updateController(rclcpp::Duration::from_seconds(0.01));

EXPECT_NEAR(INITIAL_POS_JOINT1, joint_pos_[0], COMMON_THRESHOLD);
EXPECT_NEAR(INITIAL_POS_JOINT2, joint_pos_[1], COMMON_THRESHOLD);
Expand Down Expand Up @@ -467,7 +463,7 @@ TEST_F(TestTrajectoryActions, test_goal_tolerances_fail)
common_action_result_code_);

// run an update, it should be holding
traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
updateController(rclcpp::Duration::from_seconds(0.01));

EXPECT_NEAR(init_pos1, joint_pos_[0], COMMON_THRESHOLD);
EXPECT_NEAR(init_pos2, joint_pos_[1], COMMON_THRESHOLD);
Expand Down Expand Up @@ -514,7 +510,7 @@ TEST_F(TestTrajectoryActions, test_no_time_from_start_state_tolerance_fail)
common_action_result_code_);

// run an update, it should be holding
traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
updateController(rclcpp::Duration::from_seconds(0.01));

EXPECT_NEAR(init_pos1, joint_pos_[0], COMMON_THRESHOLD);
EXPECT_NEAR(init_pos2, joint_pos_[1], COMMON_THRESHOLD);
Expand Down Expand Up @@ -563,7 +559,7 @@ TEST_F(TestTrajectoryActions, test_cancel_hold_position)
const double prev_pos3 = joint_pos_[2];

// run an update, it should be holding
traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
updateController(rclcpp::Duration::from_seconds(0.01));

EXPECT_EQ(prev_pos1, joint_pos_[0]);
EXPECT_EQ(prev_pos2, joint_pos_[1]);
Expand Down