add deprecation warning + fix test

Signed-off-by: Paul Gesel <[email protected]>
ros-controls · Feb 1, 2024 · 66a9b7f · 66a9b7f
1 parent 948f621
commit 66a9b7f
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Showing 6 changed files with 24 additions and 27 deletions.
diff --git a/...r_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp b/...r_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp
@@ -27,14 +27,14 @@
 #include "rclcpp/rclcpp.hpp"
 
 // ROS messages
-#include "control_msgs/action/gripper_command.hpp"
+#include "control_msgs/action/gripper_command_velocity.hpp"
 
 // rclcpp_action
 #include "rclcpp_action/create_server.hpp"
 
 // ros_controls
-#include "controller_interface/controller_interface.hpp"
 #include "antipodal_gripper_controller/visibility_control.hpp"
+#include "controller_interface/controller_interface.hpp"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "realtime_tools/realtime_buffer.h"

diff --git a/antipodal_gripper_controller/ros_control_plugins.xml b/antipodal_gripper_controller/ros_control_plugins.xml
@@ -1,7 +1,7 @@
 <library path="gripper_action_controller">
 
   <class name="antipodal_position_controllers/GripperActionController"
-         type="position_controllers::GripperActionController"
+         type="antipodal_position_controllers::GripperActionController"
          base_class_type="controller_interface::ControllerInterface">
     <description>
     </description>

diff --git a/antipodal_gripper_controller/src/antipodal_gripper_action_controller.cpp b/antipodal_gripper_controller/src/antipodal_gripper_action_controller.cpp
@@ -20,4 +20,6 @@
 
 #include "pluginlib/class_list_macros.hpp"
 
-PLUGINLIB_EXPORT_CLASS(antipodal_gripper_action_controller::GripperActionController, controller_interface::ControllerInterface)
+PLUGINLIB_EXPORT_CLASS(
+  antipodal_gripper_action_controller::GripperActionController,
+  controller_interface::ControllerInterface)
diff --git a/antipodal_gripper_controller/test/test_antipodal_gripper_controller.cpp b/antipodal_gripper_controller/test/test_antipodal_gripper_controller.cpp
@@ -34,31 +34,17 @@ using GoalHandle = rclcpp_action::ServerGoalHandle<GripperCommandAction>;
 using testing::SizeIs;
 using testing::UnorderedElementsAre;
 
+void GripperControllerTest::SetUpTestCase() { rclcpp::init(0, nullptr); }
 
-void GripperControllerTest::SetUpTestCase()
-{
-  rclcpp::init(0, nullptr);
-}
-
-
-void GripperControllerTest::TearDownTestCase()
-{
-  rclcpp::shutdown();
-}
-
+void GripperControllerTest::TearDownTestCase() { rclcpp::shutdown(); }
 
 void GripperControllerTest::SetUp()
 {
   // initialize controller
   controller_ = std::make_unique<FriendGripperController>();
 }
 
-
-void GripperControllerTest::TearDown()
-{
-  controller_.reset(nullptr);
-}
-
+void GripperControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void GripperControllerTest::SetUpController()
 {
@@ -109,7 +95,9 @@ TEST_F(GripperControllerTest, ConfigureParamsSuccess)
   // check interface configuration
   auto cmd_if_conf = this->controller_->command_interface_configuration();
   ASSERT_THAT(cmd_if_conf.names, SizeIs(1lu));
-  ASSERT_THAT(cmd_if_conf.names, UnorderedElementsAre(std::string("joint_1/") + hardware_interface::HW_IF_POSITION));
+  ASSERT_THAT(
+    cmd_if_conf.names,
+    UnorderedElementsAre(std::string("joint_1/") + hardware_interface::HW_IF_POSITION));
   EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
   auto state_if_conf = this->controller_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, SizeIs(2lu));

diff --git a/antipodal_gripper_controller/test/test_antipodal_gripper_controller.hpp b/antipodal_gripper_controller/test/test_antipodal_gripper_controller.hpp
@@ -28,8 +28,7 @@
 namespace
 {
 // subclassing and friending so we can access member variables
-class FriendGripperController
-: public antipodal_gripper_action_controller::GripperActionController
+class FriendGripperController : public antipodal_gripper_action_controller::GripperActionController
 {
   FRIEND_TEST(GripperControllerTest, CommandSuccessTest);
 };
@@ -54,9 +53,12 @@ class GripperControllerTest : public ::testing::Test
   std::vector<double> joint_states_ = {1.1, 2.1};
   std::vector<double> joint_commands_ = {3.1};
 
-  hardware_interface::StateInterface joint_1_pos_state_{joint_name_, hardware_interface::HW_IF_POSITION, &joint_states_[0]};
-  hardware_interface::StateInterface joint_1_vel_state_{joint_name_, hardware_interface::HW_IF_VELOCITY, &joint_states_[1]};
-  hardware_interface::CommandInterface joint_1_cmd_{joint_name_, hardware_interface::HW_IF_POSITION, &joint_commands_[0]};
+  hardware_interface::StateInterface joint_1_pos_state_{
+    joint_name_, hardware_interface::HW_IF_POSITION, &joint_states_[0]};
+  hardware_interface::StateInterface joint_1_vel_state_{
+    joint_name_, hardware_interface::HW_IF_VELOCITY, &joint_states_[1]};
+  hardware_interface::CommandInterface joint_1_cmd_{
+    joint_name_, hardware_interface::HW_IF_POSITION, &joint_commands_[0]};
 };
 
 }  // anonymous namespace

diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
@@ -40,6 +40,11 @@ void GripperActionController<HardwareInterface>::preempt_active_goal()
 template <const char * HardwareInterface>
 controller_interface::CallbackReturn GripperActionController<HardwareInterface>::on_init()
 {
+  RCLCPP_WARN(
+    get_node()->get_logger(),
+    "[Deprecated]: the `position_controllers/GripperActionController` and "
+    "`effort_controllers::GripperActionController` controllers are replaced by "
+    "'antipodal_position_controllers/GripperActionController' controller");
   try
   {
     param_listener_ = std::make_shared<ParamListener>(get_node());