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Move test_utils module from demos repo #1955

Merged
merged 11 commits into from
Dec 28, 2024
+215 −57
Merged

Move test_utils module from demos repo #1955

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63168b5
Make a valid urdf but move it to ros2_control_test_assets
christophfroehlich Dec 18, 2024
98cd242
Add test_utils from ros2_control_demo repo
christophfroehlich Dec 18, 2024
d5d3ae7
Update ros2_control_node tests to use test_utils
christophfroehlich Dec 18, 2024
0dce82a
Add docstrings
christophfroehlich Dec 18, 2024
0a6ee0d
Add release_notes
christophfroehlich Dec 18, 2024
0993099
Remove xacro and load URDF directly
christophfroehlich Dec 18, 2024
65eec39
Remove wrong dependency
christophfroehlich Dec 18, 2024
18f8371
Add missing dependency
christophfroehlich Dec 18, 2024
246114c
Cleanup double dependency
christophfroehlich Dec 18, 2024
df209eb
Use pytest again, does coverage work?
christophfroehlich Dec 18, 2024
7bd97e2
Merge branch 'master' into add/test_utils
saikishor Dec 19, 2024
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Make a valid urdf but move it to ros2_control_test_assets
@christophfroehlich
christophfroehlich committed Dec 18, 2024
commit 63168b558b9b7458cdfba16da7f4cc691916d867
4 changes: 4 additions & 0 deletions ros2_control_test_assets/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
@@ -14,6 +14,10 @@ install(
DIRECTORY include/
DESTINATION include/ros2_control_test_assets
)
install(
FILES urdf/test_hardware_components.urdf
DESTINATION share/ros2_control_test_assets/urdf
)
install(TARGETS ros2_control_test_assets
EXPORT export_ros2_control_test_assets
ARCHIVE DESTINATION lib
36 changes: 6 additions & 30 deletions ..._components/test_hardware_components.urdf → ...assets/urdf/test_hardware_components.urdf
View file
Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<robot name="MinimalRobot">
<link name="world" />
<joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
@@ -46,18 +47,11 @@
<parent link="link2"/>
<child link="tool_link"/>
</joint>
<ros2_control name="TestActuatorComponent" type="actuator">
<hardware>
<plugin>test_robot_hardware/TestSingleJointActuator</plugin>
</hardware>
<joint name="base_joint">
<command_interface name="position"/>
<state_interface name="position"/>
</joint>
</ros2_control>
<link name="tool_link" />

<ros2_control name="TestSensorComponent" type="sensor">
<hardware>
<plugin>test_robot_hardware/TestForceTorqueSensor</plugin>
<plugin>test_hardware_components/TestForceTorqueSensor</plugin>
</hardware>
<sensor name="ft_sensor">
<state_interface name="fx"/>
@@ -68,36 +62,18 @@
<state_interface name="tz"/>
</sensor>
</ros2_control>

<ros2_control name="TestSystemComponent" type="system">
<hardware>
<plugin>test_robot_hardware/TestTwoJointSystem</plugin>
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<state_interface name="position"/>
</joint>
<joint name="joint2">
<command_interface name="position"/>
<state_interface name="position"/>
</joint>
</ros2_control>
<ros2_control name="TestSystemCommandModes" type="system">
<hardware>
<plugin>test_robot_hardware/TestSystemCommandModes</plugin>
<plugin>test_hardware_components/TestTwoJointSystem</plugin>
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<joint name="joint2">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
</ros2_control>
</robot>