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[JointTrajectoryController] Add test for param propagation from overrides (e.g. yaml files) #226

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[JointTrajectoryController] Add test for param propagation from overrides (e.g. yaml files) #226

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35 changes: 35 additions & 0 deletions joint_trajectory_controller/test/test_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1187,3 +1187,38 @@ TEST_F(TrajectoryControllerTest, incorrect_initialization_using_interface_parame
state_interface_types_ = {"acceleration"};
set_parameter_and_check_result();
}

TEST_P(TrajectoryControllerTestParameterized, test_param_propagation)
{

SetUpTrajectoryController(false);

auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(traj_controller_->get_node());
while (!parameters_client->wait_for_service(1s)) {
if (!rclcpp::ok()) {
rclcpp::shutdown();
}
}

auto set_parameter_and_check_result = [&](rclcpp::Parameter& p) {

// This call is replacing the way parameters are set via launch
parameters_client->set_parameters({p});
EXPECT_EQ(traj_controller_->get_node()->has_parameter(p.get_name()), true);
};

rclcpp::Parameter j1_goal_constraint("constraints.joint1.goal", 0.01);
set_parameter_and_check_result(j1_goal_constraint);

rclcpp::Parameter j2_trajectory_constraint("constraints.joint1.trajectory", 0.01);
set_parameter_and_check_result(j2_trajectory_constraint);

rclcpp::Parameter joint_names_param("joints", joint_names_);
set_parameter_and_check_result(joint_names_param);

rclcpp::Parameter cmd_interfaces_params("command_interfaces", command_interface_types_);
set_parameter_and_check_result(cmd_interfaces_params);

rclcpp::Parameter state_interfaces_params("state_interfaces", state_interface_types_);
set_parameter_and_check_result(state_interfaces_params);
}