Broadcasters

Author: christophfroehlich

force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp

@@ -48,7 +48,11 @@ void ForceTorqueSensorBroadcasterTest::SetUp()
   fts_broadcaster_ = std::make_unique<FriendForceTorqueSensorBroadcaster>();
 }
 
-void ForceTorqueSensorBroadcasterTest::TearDown() { fts_broadcaster_.reset(nullptr); }
+void ForceTorqueSensorBroadcasterTest::TearDown()
+{
+  fts_broadcaster_->get_node()->shutdown();
+  fts_broadcaster_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+}
 
 void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster()
 {

imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp

@@ -48,7 +48,11 @@ void IMUSensorBroadcasterTest::SetUp()
   imu_broadcaster_ = std::make_unique<FriendIMUSensorBroadcaster>();
 }
 
-void IMUSensorBroadcasterTest::TearDown() { imu_broadcaster_.reset(nullptr); }
+void IMUSensorBroadcasterTest::TearDown()
+{
+  imu_broadcaster_->get_node()->shutdown();
+  imu_broadcaster_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+}
 
 void IMUSensorBroadcasterTest::SetUpIMUBroadcaster()
 {

joint_state_broadcaster/test/test_joint_state_broadcaster.cpp

@@ -57,7 +57,11 @@ void JointStateBroadcasterTest::SetUp()
   state_broadcaster_ = std::make_unique<FriendJointStateBroadcaster>();
 }
 
-void JointStateBroadcasterTest::TearDown() { state_broadcaster_.reset(nullptr); }
+void JointStateBroadcasterTest::TearDown()
+{
+  state_broadcaster_->get_node()->shutdown();
+  state_broadcaster_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+}
 
 void JointStateBroadcasterTest::SetUpStateBroadcaster(
   const std::vector<std::string> & joint_names, const std::vector<std::string> & interfaces)

pose_broadcaster/test/test_pose_broadcaster.cpp

@@ -20,7 +20,11 @@ using hardware_interface::LoanedStateInterface;
 
 void PoseBroadcasterTest::SetUp() { pose_broadcaster_ = std::make_unique<PoseBroadcaster>(); }
 
-void PoseBroadcasterTest::TearDown() { pose_broadcaster_.reset(nullptr); }
+void PoseBroadcasterTest::TearDown()
+{
+  pose_broadcaster_->get_node()->shutdown();
+  pose_broadcaster_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+}
 
 void PoseBroadcasterTest::SetUpPoseBroadcaster()
 {

range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp

@@ -33,7 +33,11 @@ void RangeSensorBroadcasterTest::SetUp()
   range_broadcaster_ = std::make_unique<range_sensor_broadcaster::RangeSensorBroadcaster>();
 }
 
-void RangeSensorBroadcasterTest::TearDown() { range_broadcaster_.reset(nullptr); }
+void RangeSensorBroadcasterTest::TearDown()
+{
+  range_broadcaster_->get_node()->shutdown();
+  range_broadcaster_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+}
 
 controller_interface::return_type RangeSensorBroadcasterTest::init_broadcaster(
   std::string broadcaster_name)