Remaining controllers

ros-controls · Jan 3, 2025 · ab5de5f · ab5de5f
1 parent d37d5b2
commit ab5de5f
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Showing 8 changed files with 38 additions and 9 deletions.
diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -34,7 +34,11 @@ void JointGroupEffortControllerTest::SetUp()
   controller_ = std::make_unique<FriendJointGroupEffortController>();
 }
 
-void JointGroupEffortControllerTest::TearDown() { controller_.reset(nullptr); }
+void JointGroupEffortControllerTest::TearDown()
+{
+  controller_->get_node()->shutdown();
+  controller_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+}
 
 void JointGroupEffortControllerTest::SetUpController()
 {

diff --git a/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp
@@ -46,7 +46,11 @@ void ForwardCommandControllerTest::SetUp()
   controller_ = std::make_unique<FriendForwardCommandController>();
 }
 
-void ForwardCommandControllerTest::TearDown() { controller_.reset(nullptr); }
+void ForwardCommandControllerTest::TearDown()
+{
+  controller_->get_node()->shutdown();
+  controller_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+}
 
 void ForwardCommandControllerTest::SetUpController()
 {

diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
@@ -48,7 +48,11 @@ void MultiInterfaceForwardCommandControllerTest::SetUp()
   controller_ = std::make_unique<FriendMultiInterfaceForwardCommandController>();
 }
 
-void MultiInterfaceForwardCommandControllerTest::TearDown() { controller_.reset(nullptr); }
+void MultiInterfaceForwardCommandControllerTest::TearDown()
+{
+  controller_->get_node()->shutdown();
+  controller_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+}
 
 void MultiInterfaceForwardCommandControllerTest::SetUpController(bool set_params_and_activate)
 {

diff --git a/gripper_controllers/test/test_gripper_controllers.cpp b/gripper_controllers/test/test_gripper_controllers.cpp
@@ -52,7 +52,8 @@ void GripperControllerTest<T>::SetUp()
 template <typename T>
 void GripperControllerTest<T>::TearDown()
 {
-  controller_.reset(nullptr);
+  controller_->get_node()->shutdown();
+  controller_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
 }
 
 template <typename T>

diff --git a/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp b/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp
@@ -44,7 +44,11 @@ void GripperControllerTest::SetUp()
   controller_ = std::make_unique<FriendGripperController>();
 }
 
-void GripperControllerTest::TearDown() { controller_.reset(nullptr); }
+void GripperControllerTest::TearDown()
+{
+  controller_->get_node()->shutdown();
+  controller_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+}
 
 void GripperControllerTest::SetUpController(
   const std::string & controller_name = "test_gripper_action_position_controller",

diff --git a/pid_controller/test/test_pid_controller.hpp b/pid_controller/test/test_pid_controller.hpp
@@ -128,9 +128,13 @@ class PidControllerFixture : public ::testing::Test
       "/test_pid_controller/set_feedforward_control");
   }
 
-  static void TearDownTestCase() { rclcpp::shutdown(); }
+  void TearDown()
+  {
+    controller_->get_node()->shutdown();
+    controller_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+  }
 
-  void TearDown() { controller_.reset(nullptr); }
+  static void TearDownTestCase() {}
 
 protected:
   void SetUpController(const std::string controller_name = "test_pid_controller")

diff --git a/position_controllers/test/test_joint_group_position_controller.cpp b/position_controllers/test/test_joint_group_position_controller.cpp
@@ -34,7 +34,11 @@ void JointGroupPositionControllerTest::SetUp()
   controller_ = std::make_unique<FriendJointGroupPositionController>();
 }
 
-void JointGroupPositionControllerTest::TearDown() { controller_.reset(nullptr); }
+void JointGroupPositionControllerTest::TearDown()
+{
+  controller_->get_node()->shutdown();
+  controller_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+}
 
 void JointGroupPositionControllerTest::SetUpController()
 {

diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
@@ -34,7 +34,11 @@ void JointGroupVelocityControllerTest::SetUp()
   controller_ = std::make_unique<FriendJointGroupVelocityController>();
 }
 
-void JointGroupVelocityControllerTest::TearDown() { controller_.reset(nullptr); }
+void JointGroupVelocityControllerTest::TearDown()
+{
+  controller_->get_node()->shutdown();
+  controller_.reset(nullptr);  // this calls the dtor, but does not call shutdown transition
+}
 
 void JointGroupVelocityControllerTest::SetUpController()
 {