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Steering controller time related test fixes #13

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merged 5 commits into from
May 22, 2023
Merged

Steering controller time related test fixes #13

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eb3fda5
fixed some time-sync related test failures
ARK3r May 19, 2023
b378878
Merge branch 'ackermann-odometry-library' of github.com:ARK3r/ros2_co…
ARK3r May 19, 2023
2a84493
needed blank line at the end of file
ARK3r May 19, 2023
942934a
fully resolved time related test fails
ARK3r May 22, 2023
3b3ed5a
fixed typo
ARK3r May 22, 2023
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14 changes: 7 additions & 7 deletions ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ TEST_F(AckermannSteeringControllerTest, check_exported_intefaces)
state_intefaces.names[STATE_STEER_LEFT_WHEEL],
controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);

// check ref itfs
// check ref itfsTIME
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
Expand Down Expand Up @@ -120,7 +120,7 @@ TEST_F(AckermannSteeringControllerTest, update_success)
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
}

Expand All @@ -145,7 +145,7 @@ TEST_F(AckermannSteeringControllerTest, reactivate_success)
ASSERT_TRUE(std::isnan(controller_->command_interfaces_[0].get_value()));

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
}

Expand All @@ -168,7 +168,7 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic)
controller_->input_ref_.writeFromNonRT(msg);

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

EXPECT_NEAR(
Expand Down Expand Up @@ -207,7 +207,7 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic_chained)
controller_->reference_interfaces_[1] = 0.2;

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
EXPECT_NEAR(

Expand Down Expand Up @@ -241,7 +241,7 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

ControllerStateMsg msg;
Expand All @@ -256,7 +256,7 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
ASSERT_TRUE(controller_->wait_for_commands(executor));

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

EXPECT_NEAR(
Expand Down
4 changes: 2 additions & 2 deletions ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -219,7 +219,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test

// call update to publish the test value
ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

// call update to publish the test value
Expand All @@ -229,7 +229,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
wait_set.add_subscription(subscription);
while (max_sub_check_loop_count--)
{
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
// check if message has been received
if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
{
Expand Down
16 changes: 8 additions & 8 deletions bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ TEST_F(BicycleSteeringControllerTest, check_exported_intefaces)
state_intefaces.names[STATE_STEER_AXIS],
controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);

// check ref itfs
// check ref itfsTIME
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
Expand Down Expand Up @@ -106,7 +106,7 @@ TEST_F(BicycleSteeringControllerTest, update_success)
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
}

Expand All @@ -131,7 +131,7 @@ TEST_F(BicycleSteeringControllerTest, reactivate_success)
ASSERT_TRUE(std::isnan(controller_->command_interfaces_[0].get_value()));

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
}

Expand All @@ -154,7 +154,7 @@ TEST_F(BicycleSteeringControllerTest, test_update_logic)
controller_->input_ref_.writeFromNonRT(msg);

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

EXPECT_NEAR(
Expand Down Expand Up @@ -186,7 +186,7 @@ TEST_F(BicycleSteeringControllerTest, test_update_logic_chained)
controller_->reference_interfaces_[1] = 0.2;

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

EXPECT_NEAR(
Expand All @@ -211,7 +211,7 @@ TEST_F(BicycleSteeringControllerTest, publish_status_success)
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

ControllerStateMsg msg;
Expand All @@ -228,7 +228,7 @@ TEST_F(BicycleSteeringControllerTest, receive_message_and_publish_updated_status
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

ControllerStateMsg msg;
Expand All @@ -241,7 +241,7 @@ TEST_F(BicycleSteeringControllerTest, receive_message_and_publish_updated_status
ASSERT_TRUE(controller_->wait_for_commands(executor));

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

EXPECT_NEAR(
Expand Down
4 changes: 2 additions & 2 deletions bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -192,15 +192,15 @@ class BicycleSteeringControllerFixture : public ::testing::Test

// call update to publish the test value
ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
// since update doesn't guarantee a published message, republish until received
int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop
rclcpp::WaitSet wait_set; // block used to wait on max_sub_check_loop_count
wait_set.add_subscription(subscription);
while (max_sub_check_loop_count--)
{
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
// check if message has been received
if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
{
Expand Down
2 changes: 1 addition & 1 deletion steering_controllers_library/test/test_steering_controllers_library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ TEST_F(SteeringControllersLibraryTest, check_exported_intefaces)
state_intefaces.names[STATE_STEER_LEFT_WHEEL],
controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);

// check ref itfs
// check ref itfsTIME
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
Expand Down
4 changes: 2 additions & 2 deletions steering_controllers_library/test/test_steering_controllers_library.hpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -240,7 +240,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test

// call update to publish the test value
ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

// call update to publish the test value
Expand All @@ -250,7 +250,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test
wait_set.add_subscription(subscription);
while (max_sub_check_loop_count--)
{
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
// check if message has been received
if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
{
Expand Down
14 changes: 7 additions & 7 deletions tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ TEST_F(TricycleSteeringControllerTest, check_exported_intefaces)
state_intefaces.names[STATE_STEER_AXIS],
controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);

// check ref itfs
// check ref itfsTIME
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auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
Expand Down Expand Up @@ -113,7 +113,7 @@ TEST_F(TricycleSteeringControllerTest, update_success)
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
}

Expand All @@ -138,7 +138,7 @@ TEST_F(TricycleSteeringControllerTest, reactivate_success)
ASSERT_TRUE(std::isnan(controller_->command_interfaces_[0].get_value()));

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
}

Expand All @@ -161,7 +161,7 @@ TEST_F(TricycleSteeringControllerTest, test_update_logic)
controller_->input_ref_.writeFromNonRT(msg);

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

EXPECT_NEAR(
Expand Down Expand Up @@ -197,7 +197,7 @@ TEST_F(TricycleSteeringControllerTest, test_update_logic_chained)
controller_->reference_interfaces_[1] = 0.2;

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

EXPECT_NEAR(
Expand Down Expand Up @@ -228,7 +228,7 @@ TEST_F(TricycleSteeringControllerTest, receive_message_and_publish_updated_statu
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

ControllerStateMsg msg;
Expand All @@ -242,7 +242,7 @@ TEST_F(TricycleSteeringControllerTest, receive_message_and_publish_updated_statu
ASSERT_TRUE(controller_->wait_for_commands(executor));

ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

EXPECT_NEAR(
Expand Down
4 changes: 2 additions & 2 deletions tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -206,15 +206,15 @@ class TricycleSteeringControllerFixture : public ::testing::Test

// call update to publish the test value
ASSERT_EQ(
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
// since update doesn't guarantee a published message, republish until received
int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop
rclcpp::WaitSet wait_set; // block used to wait on message
wait_set.add_subscription(subscription);
while (max_sub_check_loop_count--)
{
controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
// check if message has been received
if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
{
Expand Down
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