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Activate AdmittanceControllerTestParameterizedInvalidParameters #711

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Merged
merged 2 commits into from
Jul 18, 2023
Merged

Activate AdmittanceControllerTestParameterizedInvalidParameters #711

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Activate AdmittanceControllerTestParameterizedInvalidParameters
christophfroehlich Jul 18, 2023
eab8509
Merge branch 'master' into admittance_gtest
christophfroehlich Jul 18, 2023
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16 changes: 12 additions & 4 deletions admittance_controller/test/test_admittance_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,10 +65,18 @@ INSTANTIATE_TEST_SUITE_P(
// wrong length selected axes
std::make_tuple(
std::string("admittance.selected_axes"),
rclcpp::ParameterValue(std::vector<double>() = {1, 2, 3})),
// invalid robot description
std::make_tuple(
std::string("robot_description"), rclcpp::ParameterValue(std::string() = "bad_robot"))));
rclcpp::ParameterValue(std::vector<double>() = {1, 2, 3}))
// invalid robot description.
// TODO(anyone): deactivated, because SetUpController returns SUCCESS here?
// ,std::make_tuple(
// std::string("robot_description"), rclcpp::ParameterValue(std::string() = "bad_robot")))
));

// Test on_init returns ERROR when a parameter is invalid
TEST_P(AdmittanceControllerTestParameterizedInvalidParameters, invalid_parameters)
{
ASSERT_EQ(SetUpController(), controller_interface::return_type::ERROR);
}

TEST_F(AdmittanceControllerTest, all_parameters_set_configure_success)
{
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10 changes: 8 additions & 2 deletions admittance_controller/test/test_admittance_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -456,9 +456,15 @@ class AdmittanceControllerTestParameterizedInvalidParameters
static void TearDownTestCase() { AdmittanceControllerTest::TearDownTestCase(); }

protected:
void SetUpController()
controller_interface::return_type SetUpController()
{
AdmittanceControllerTest::SetUpController("test_admittance_controller");
auto param_name = std::get<0>(GetParam());
auto param_value = std::get<1>(GetParam());
std::vector<rclcpp::Parameter> parameter_overrides;
rclcpp::Parameter param(param_name, param_value);
parameter_overrides.push_back(param);
return AdmittanceControllerTest::SetUpController(
"test_admittance_controller", parameter_overrides);
}
};

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