Add more test cases for different NodeOptions

controller_interface/CMakeLists.txt

@@ -40,6 +40,8 @@ if(BUILD_TESTING)
   )
 
   ament_add_gmock(test_controller_with_options test/test_controller_with_options.cpp)
+  install(FILES test/test_controller_node_options.yaml
+      DESTINATION test)
   target_link_libraries(test_controller_with_options
     controller_interface
   )

controller_interface/test/test_controller_node_options.yaml

@@ -0,0 +1,6 @@
+controller_name:
+  ros__parameters:
+    parameter_list:
+      parameter1: 20.0
+      parameter2: 23.14
+      parameter3: -52.323

controller_interface/test/test_controller_with_options.cpp

@@ -15,8 +15,8 @@
 #include "test_controller_with_options.hpp"
 
 #include <gtest/gtest.h>
+#include <ament_index_cpp/get_package_prefix.hpp>
 #include <string>
-
 #include "rclcpp/rclcpp.hpp"
 
 class FriendControllerWithOptions : public controller_with_options::ControllerWithOptions
@@ -49,6 +49,34 @@ TEST(ControllerWithOption, init_with_overrides)
   const auto & node_options = controller.get_node()->get_node_options();
   EXPECT_TRUE(node_options.allow_undeclared_parameters());
   EXPECT_TRUE(node_options.automatically_declare_parameters_from_overrides());
+  EXPECT_TRUE(node_options.arguments().empty());
+  // checks that the parameters have been correctly processed
+  EXPECT_EQ(controller.params.size(), 3u);
+  EXPECT_EQ(controller.params["parameter1"], 1.);
+  EXPECT_EQ(controller.params["parameter2"], 2.);
+  EXPECT_EQ(controller.params["parameter3"], 3.);
+  rclcpp::shutdown();
+}
+
+TEST(ControllerWithOption, init_with_node_options_arguments_parameters)
+{
+  char const * const argv[] = {""};
+  int argc = arrlen(argv);
+  rclcpp::init(argc, argv);
+  // creates the controller
+  FriendControllerWithOptions controller;
+  auto controller_node_options = controller.define_custom_node_options();
+  controller_node_options.arguments(
+    {"--ros-args", "-p", "parameter_list.parameter1:=1.", "-p", "parameter_list.parameter2:=2.",
+     "-p", "parameter_list.parameter3:=3."});
+  EXPECT_EQ(
+    controller.init("controller_name", "", 50.0, "", controller_node_options),
+    controller_interface::return_type::OK);
+  // checks that the node options have been updated
+  const auto & node_options = controller.get_node()->get_node_options();
+  EXPECT_TRUE(node_options.allow_undeclared_parameters());
+  EXPECT_TRUE(node_options.automatically_declare_parameters_from_overrides());
+  EXPECT_EQ(7lu, node_options.arguments().size());
   // checks that the parameters have been correctly processed
   EXPECT_EQ(controller.params.size(), 3u);
   EXPECT_EQ(controller.params["parameter1"], 1.);
@@ -57,6 +85,71 @@ TEST(ControllerWithOption, init_with_overrides)
   rclcpp::shutdown();
 }
 
+TEST(ControllerWithOption, init_with_node_options_arguments_parameters_file)
+{
+  char const * const argv[] = {""};
+  int argc = arrlen(argv);
+  rclcpp::init(argc, argv);
+  // creates the controller
+  FriendControllerWithOptions controller;
+  const std::string params_file_path = ament_index_cpp::get_package_prefix("controller_interface") +
+                                       "/test/test_controller_node_options.yaml";
+  std::cerr << params_file_path << std::endl;
+  auto controller_node_options = controller.define_custom_node_options();
+  controller_node_options.arguments({"--ros-args", "--params-file", params_file_path});
+  EXPECT_EQ(
+    controller.init("controller_name", "", 50.0, "", controller_node_options),
+    controller_interface::return_type::OK);
+  // checks that the node options have been updated
+  const auto & node_options = controller.get_node()->get_node_options();
+  EXPECT_TRUE(node_options.allow_undeclared_parameters());
+  EXPECT_TRUE(node_options.automatically_declare_parameters_from_overrides());
+  EXPECT_EQ(3lu, node_options.arguments().size());
+  // checks that the parameters have been correctly processed
+  EXPECT_EQ(controller.params.size(), 3u);
+  EXPECT_EQ(controller.params["parameter1"], 20.0);
+  EXPECT_EQ(controller.params["parameter2"], 23.14);
+  EXPECT_EQ(controller.params["parameter3"], -52.323);
+  bool use_sim_time(true);
+  controller.get_node()->get_parameter_or("use_sim_time", use_sim_time, false);
+  ASSERT_FALSE(use_sim_time);
+  rclcpp::shutdown();
+}
+
+TEST(
+  ControllerWithOption, init_with_node_options_arguments_parameters_file_and_override_command_line)
+{
+  char const * const argv[] = {""};
+  int argc = arrlen(argv);
+  rclcpp::init(argc, argv);
+  // creates the controller
+  FriendControllerWithOptions controller;
+  const std::string params_file_path = ament_index_cpp::get_package_prefix("controller_interface") +
+                                       "/test/test_controller_node_options.yaml";
+  std::cerr << params_file_path << std::endl;
+  auto controller_node_options = controller.define_custom_node_options();
+  controller_node_options.arguments(
+    {"--ros-args", "--params-file", params_file_path, "-p", "parameter_list.parameter1:=562.785",
+     "-p", "use_sim_time:=true"});
+  EXPECT_EQ(
+    controller.init("controller_name", "", 50.0, "", controller_node_options),
+    controller_interface::return_type::OK);
+  // checks that the node options have been updated
+  const auto & node_options = controller.get_node()->get_node_options();
+  EXPECT_TRUE(node_options.allow_undeclared_parameters());
+  EXPECT_TRUE(node_options.automatically_declare_parameters_from_overrides());
+  EXPECT_EQ(7lu, node_options.arguments().size());
+  // checks that the parameters have been correctly processed
+  EXPECT_EQ(controller.params.size(), 3u);
+  EXPECT_EQ(controller.params["parameter1"], 562.785);
+  EXPECT_EQ(controller.params["parameter2"], 23.14);
+  EXPECT_EQ(controller.params["parameter3"], -52.323);
+  bool use_sim_time(false);
+  controller.get_node()->get_parameter_or("use_sim_time", use_sim_time, false);
+  ASSERT_TRUE(use_sim_time);
+  rclcpp::shutdown();
+}
+
 TEST(ControllerWithOption, init_without_overrides)
 {
   // mocks the declaration of overrides parameters in a yaml file