Misplaced param init in admittance_controller (ros-controls#547)

christophfroehlich · Apr 11, 2023 · 667af8a · 667af8a
1 parent b4863d8
commit 667af8a
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Showing 3 changed files with 5 additions and 17 deletions.
diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
@@ -147,18 +147,6 @@ AdmittanceController::on_export_reference_interfaces()
 controller_interface::CallbackReturn AdmittanceController::on_configure(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
-  try
-  {
-    parameter_handler_ = std::make_shared<admittance_controller::ParamListener>(get_node());
-    admittance_ = std::make_unique<admittance_controller::AdmittanceRule>(parameter_handler_);
-  }
-  catch (const std::exception & e)
-  {
-    RCLCPP_ERROR(
-      get_node()->get_logger(), "Exception thrown during init stage with message: %s \n", e.what());
-    return controller_interface::CallbackReturn::ERROR;
-  }
-
   command_joint_names_ = admittance_->parameters_.command_joints;
   if (command_joint_names_.empty())
   {

diff --git a/admittance_controller/test/test_admittance_controller.cpp b/admittance_controller/test/test_admittance_controller.cpp
@@ -21,16 +21,14 @@
 #include <utility>
 #include <vector>
 
-// Test on_configure returns ERROR when a required parameter is missing
-TEST_P(AdmittanceControllerTestParameterizedMissingParameters, one_parameter_is_missing)
+// Test on_init returns ERROR when a required parameter is missing
+TEST_P(AdmittanceControllerTestParameterizedMissingParameters, one_init_parameter_is_missing)
 {
   ASSERT_EQ(SetUpController(GetParam()), controller_interface::return_type::ERROR);
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR);
 }
 
 INSTANTIATE_TEST_SUITE_P(
-  MissingMandatoryParameterDuringConfiguration,
-  AdmittanceControllerTestParameterizedMissingParameters,
+  MissingMandatoryParameterDuringInit, AdmittanceControllerTestParameterizedMissingParameters,
   ::testing::Values(
     "admittance.mass", "admittance.selected_axes", "admittance.stiffness",
     "chainable_command_interfaces", "command_interfaces", "control.frame.id",

diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -53,6 +53,8 @@ const double COMMON_THRESHOLD = 0.001;
 
 constexpr auto NODE_SUCCESS =
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
+constexpr auto NODE_FAILURE =
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::FAILURE;
 constexpr auto NODE_ERROR =
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;