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Fix "parameter is already declared" error
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@christophfroehlich
christophfroehlich committed Dec 5, 2023
1 parent df051d3 commit ad27118
Showing 1 changed file with 30 additions and 37 deletions.
67 changes: 30 additions & 37 deletions force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
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Expand Up @@ -111,12 +111,11 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_InterfaceNames_Set)
SetUpFTSBroadcaster();

// set the 'sensor_name'
fts_broadcaster_->get_node()->declare_parameter("sensor_name", sensor_name_);
fts_broadcaster_->get_node()->set_parameter({"sensor_name", sensor_name_});

// set the 'interface_names'
fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", "fts_sensor/force.x");
fts_broadcaster_->get_node()->declare_parameter(
"interface_names.torque.z", "fts_sensor/torque.z");
fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});

// configure failed, both 'sensor_name' and 'interface_names' supplied
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR);
Expand All @@ -127,7 +126,7 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_IsEmpty_InterfaceNames_NotSe
SetUpFTSBroadcaster();

// set the 'sensor_name' empty
fts_broadcaster_->get_node()->declare_parameter("sensor_name", "");
fts_broadcaster_->get_node()->set_parameter({"sensor_name", ""});

// configure failed, 'sensor_name' parameter empty
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR);
Expand All @@ -138,8 +137,8 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_IsEmpty_SensorName_NotSe
SetUpFTSBroadcaster();

// set the 'interface_names' empty
fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", "");
fts_broadcaster_->get_node()->declare_parameter("interface_names.torque.z", "");
fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", ""});
fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", ""});

// configure failed, 'interface_name' parameter empty
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR);
Expand All @@ -150,10 +149,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Configure_Success)
SetUpFTSBroadcaster();

// set the 'sensor_name'
fts_broadcaster_->get_node()->declare_parameter("sensor_name", sensor_name_);
fts_broadcaster_->get_node()->set_parameter({"sensor_name", sensor_name_});

// set the 'frame_id'
fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_);
fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});

// configure passed
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
Expand All @@ -164,12 +163,11 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Configure_Success)
SetUpFTSBroadcaster();

// set the 'interface_names'
fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", "fts_sensor/force.x");
fts_broadcaster_->get_node()->declare_parameter(
"interface_names.torque.z", "fts_sensor/torque.z");
fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});

// set the 'frame_id'
fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_);
fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});

// configure passed
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
Expand All @@ -180,8 +178,8 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Activate_Success)
SetUpFTSBroadcaster();

// set the params 'sensor_name' and 'frame_id'
fts_broadcaster_->get_node()->declare_parameter("sensor_name", sensor_name_);
fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_);
fts_broadcaster_->get_node()->set_parameter({"sensor_name", sensor_name_});
fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});

// configure and activate success
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
Expand All @@ -193,8 +191,8 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Update_Success)
SetUpFTSBroadcaster();

// set the params 'sensor_name' and 'frame_id'
fts_broadcaster_->get_node()->declare_parameter("sensor_name", sensor_name_);
fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_);
fts_broadcaster_->get_node()->set_parameter({"sensor_name", sensor_name_});
fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});

ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
Expand All @@ -209,10 +207,9 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Success)
SetUpFTSBroadcaster();

// set the params 'interface_names' and 'frame_id'
fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", "fts_sensor/force.x");
fts_broadcaster_->get_node()->declare_parameter(
"interface_names.torque.z", "fts_sensor/torque.z");
fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_);
fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});
fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});

ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
Expand All @@ -226,8 +223,8 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Publish_Success)
SetUpFTSBroadcaster();

// set the params 'sensor_name' and 'frame_id'
fts_broadcaster_->get_node()->declare_parameter("sensor_name", sensor_name_);
fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_);
fts_broadcaster_->get_node()->set_parameter({"sensor_name", sensor_name_});
fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});

ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
Expand All @@ -249,10 +246,9 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Publish_Success)
SetUpFTSBroadcaster();

// set the params 'interface_names' and 'frame_id'
fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", "fts_sensor/force.x");
fts_broadcaster_->get_node()->declare_parameter(
"interface_names.torque.z", "fts_sensor/torque.z");
fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_);
fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});
fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});

ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
Expand All @@ -274,16 +270,13 @@ TEST_F(ForceTorqueSensorBroadcasterTest, All_InterfaceNames_Publish_Success)
SetUpFTSBroadcaster();

// set all the params 'interface_names' and 'frame_id'
fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", "fts_sensor/force.x");
fts_broadcaster_->get_node()->declare_parameter("interface_names.force.y", "fts_sensor/force.y");
fts_broadcaster_->get_node()->declare_parameter("interface_names.force.z", "fts_sensor/force.z");
fts_broadcaster_->get_node()->declare_parameter(
"interface_names.torque.x", "fts_sensor/torque.x");
fts_broadcaster_->get_node()->declare_parameter(
"interface_names.torque.y", "fts_sensor/torque.y");
fts_broadcaster_->get_node()->declare_parameter(
"interface_names.torque.z", "fts_sensor/torque.z");
fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_);
fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
fts_broadcaster_->get_node()->set_parameter({"interface_names.force.y", "fts_sensor/force.y"});
fts_broadcaster_->get_node()->set_parameter({"interface_names.force.z", "fts_sensor/force.z"});
fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.x", "fts_sensor/torque.x"});
fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.y", "fts_sensor/torque.y"});
fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});
fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});

ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
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