update tests corresponding to the refactor

ros-controls · Jul 21, 2024 · 6851fa9 · 6851fa9
1 parent 016249a
commit 6851fa9
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Showing 2 changed files with 9 additions and 3 deletions.
diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
@@ -59,10 +59,12 @@ if(BUILD_TESTING)
 
   ament_add_gmock(test_trajectory test/test_trajectory.cpp)
   target_link_libraries(test_trajectory joint_trajectory_controller)
+  ament_target_dependencies(test_trajectory ros2_control_test_assets)
   target_compile_definitions(test_trajectory PRIVATE _USE_MATH_DEFINES)
 
   ament_add_gmock(test_tolerances test/test_tolerances.cpp)
   target_link_libraries(test_tolerances joint_trajectory_controller)
+  ament_target_dependencies(test_tolerances ros2_control_test_assets)
   target_compile_definitions(test_tolerances PRIVATE _USE_MATH_DEFINES)
 
   ament_add_gmock(test_trajectory_controller
@@ -71,6 +73,7 @@ if(BUILD_TESTING)
   target_link_libraries(test_trajectory_controller
     joint_trajectory_controller
   )
+  ament_target_dependencies(test_trajectory_controller ros2_control_test_assets)
   target_compile_definitions(joint_trajectory_controller PRIVATE _USE_MATH_DEFINES)
 
   ament_add_gmock(test_load_joint_trajectory_controller
@@ -93,6 +96,7 @@ if(BUILD_TESTING)
   target_link_libraries(test_trajectory_actions
     joint_trajectory_controller
   )
+  ament_target_dependencies(test_trajectory_actions ros2_control_test_assets)
 endif()
 
 

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -26,6 +26,7 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "joint_trajectory_controller/joint_trajectory_controller.hpp"
 #include "joint_trajectory_controller/tolerances.hpp"
+#include "ros2_control_test_assets/descriptions.hpp"
 
 namespace
 {
@@ -249,7 +250,7 @@ class TrajectoryControllerTest : public ::testing::Test
 
   void SetUpTrajectoryController(
     rclcpp::Executor & executor, const std::vector<rclcpp::Parameter> & parameters = {},
-    const std::string & urdf = "")
+    const std::string & urdf = ros2_control_test_assets::minimal_robot_urdf)
   {
     auto ret = SetUpTrajectoryControllerLocal(parameters, urdf);
     if (ret != controller_interface::return_type::OK)
@@ -260,7 +261,8 @@ class TrajectoryControllerTest : public ::testing::Test
   }
 
   controller_interface::return_type SetUpTrajectoryControllerLocal(
-    const std::vector<rclcpp::Parameter> & parameters = {}, const std::string & urdf = "")
+    const std::vector<rclcpp::Parameter> & parameters = {},
+    const std::string & urdf = ros2_control_test_assets::minimal_robot_urdf)
   {
     traj_controller_ = std::make_shared<TestableJointTrajectoryController>();
 
@@ -302,7 +304,7 @@ class TrajectoryControllerTest : public ::testing::Test
     const std::vector<double> initial_vel_joints = INITIAL_VEL_JOINTS,
     const std::vector<double> initial_acc_joints = INITIAL_ACC_JOINTS,
     const std::vector<double> initial_eff_joints = INITIAL_EFF_JOINTS,
-    const std::string & urdf = "")
+    const std::string & urdf = ros2_control_test_assets::minimal_robot_urdf)
   {
     auto has_nonzero_vel_param =
       std::find_if(