wip / debug

Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com>
ros-controls · Oct 23, 2020 · cb53823 · cb53823
1 parent 7361ab5
commit cb53823
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Showing 2 changed files with 12 additions and 14 deletions.
diff --git a/controller_manager/test/test_components/test_actuator.cpp b/controller_manager/test/test_components/test_actuator.cpp
@@ -27,6 +27,12 @@ class TestActuator : public hardware_interface::components::ActuatorInterface
   return_type configure(const hardware_interface::HardwareInfo & actuator_info) override
   {
     actuator_info_ = actuator_info;
+    for (const auto & joint : actuator_info_.joints) {
+      fprintf(stderr, "joint info: %s\n", joint.name.c_str());
+      for (const auto & command_interface : joint.command_interfaces) {
+        fprintf(stderr, "\t%s\n", command_interface.name.c_str());
+      }
+    }
     return return_type::OK;
   }
 

diff --git a/controller_manager/test/test_resource_manager.cpp b/controller_manager/test/test_resource_manager.cpp
@@ -91,13 +91,9 @@ class TestResourceManager : public ::testing::Test
   <ros2_control name="TestActuatorHardware" type="actuator">
     <hardware>
       <classType>test_actuator</classType>
-      <param name="example_param_write_for_sec">2</param>
-      <param name="example_param_read_for_sec">2</param>
     </hardware>
     <joint name="joint1">
-      <classType>test_joint_component</classType>
-      <param name="min_position_value">-1</param>
-      <param name="max_position_value">1</param>
+      <command_interface name="position"/>
     </joint>
   </ros2_control>
   <ros2_control name="TestSensorHardware" type="sensor">
@@ -107,9 +103,7 @@ class TestResourceManager : public ::testing::Test
       <param name="example_param_read_for_sec">2</param>
     </hardware>
     <sensor name="sensor1">
-      <classType>test_sensor</classType>
-      <param name="min_position_value">-1</param>
-      <param name="max_position_value">1</param>
+      <state_interface name="velocity"/>
     </sensor>
   </ros2_control>
   <ros2_control name="TestSystemHardware" type="system">
@@ -119,14 +113,12 @@ class TestResourceManager : public ::testing::Test
       <param name="example_param_read_for_sec">2</param>
     </hardware>
     <joint name="joint2">
-      <classType>test_joint_component</classType>
-      <param name="min_position_value">-1</param>
-      <param name="max_position_value">1</param>
+      <command_interface name="velocity"/>
+      <state_interface name="position"/>
     </joint>
     <joint name="joint3">
-      <classType>test_joint_component</classType>
-      <param name="min_position_value">-1</param>
-      <param name="max_position_value">1</param>
+      <command_interface name="velocity"/>
+      <state_interface name="position"/>
     </joint>
   </ros2_control>
 )";