[diff_drive] REwrite test and add simple validation (partial backport #…

…958)
ros-controls · May 9, 2024 · a724a45 · a724a45
1 parent fe07b83
commit a724a45
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Showing 5 changed files with 132 additions and 203 deletions.
diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
@@ -53,8 +53,7 @@ if(BUILD_TESTING)
  find_package(ros2_control_test_assets REQUIRED)
 
  ament_add_gmock(test_diff_drive_controller
- test/test_diff_drive_controller.cpp
- ENV config_file=${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_diff_drive_controller.yaml)
+ test/test_diff_drive_controller.cpp)
  target_link_libraries(test_diff_drive_controller
  diff_drive_controller
  )
@@ -69,8 +68,9 @@ if(BUILD_TESTING)
  tf2_msgs
  )
 
- ament_add_gmock(test_load_diff_drive_controller
+ add_rostest_with_parameters_gmock(test_load_diff_drive_controller
  test/test_load_diff_drive_controller.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_diff_drive_controller.yaml
  )
  ament_target_dependencies(test_load_diff_drive_controller
  controller_manager

diff --git a/diff_drive_controller/src/diff_drive_controller_parameter.yaml b/diff_drive_controller/src/diff_drive_controller_parameter.yaml
@@ -2,12 +2,18 @@ diff_drive_controller:
  left_wheel_names: {
  type: string_array,
  default_value: [],
- description: "Link names of the left side wheels",
+ description: "Names of the left side wheels' joints",
+ validation: {
+ not_empty<>: []
+ }
  }
  right_wheel_names: {
  type: string_array,
  default_value: [],
- description: "Link names of the right side wheels",
+ description: "Names of the right side wheels' joints",
+ validation: {
+ not_empty<>: []
+ }
  }
  wheel_separation: {
  type: double,

diff --git a/diff_drive_controller/test/config/test_diff_drive_controller.yaml b/diff_drive_controller/test/config/test_diff_drive_controller.yaml
@@ -2,7 +2,6 @@ test_diff_drive_controller:
  ros__parameters:
  left_wheel_names: ["left_wheels"]
  right_wheel_names: ["right_wheels"]
- write_op_modes: ["motor_controller"]
 
  wheel_separation: 0.40
  wheels_per_side: 1 # actually 2, but both are controlled by 1 signal
@@ -21,7 +20,7 @@ test_diff_drive_controller:
  open_loop: true
  enable_odom_tf: true
 
- cmd_vel_timeout: 500 # milliseconds
+ cmd_vel_timeout: 0.5 # seconds
  publish_limited_velocity: true
  velocity_rolling_window_size: 10