Fix tests now that Mock_spot is not a sentinel

spot_driver/spot_driver/spot_ros2.py

@@ -192,6 +192,14 @@ class SpotImageType(str, Enum):
     RegDepth = "depth_registered"
 
 
+def set_node_parameter_from_parameter_list(
+    node: Node, parameter_list: Optional[typing.List[Parameter]], parameter_name: str
+) -> None:
+    """Set parameters when the node starts not from a launch file."""
+    if parameter_list is not None:
+        node.set_parameters([parameter for parameter in parameter_list if parameter.name == parameter_name])
+
+
 class SpotROS(Node):
     """Parent class for using the wrapper.  Defines all callbacks and keeps the wrapper alive"""
 
@@ -252,6 +260,9 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
 
         self.declare_parameter("spot_name", "")
         self.declare_parameter("mock_enable", False)
+
+        # If `mock_enable:=True`, then there are additional parameters. We must set this one separately.
+        set_node_parameter_from_parameter_list(self, parameter_list, "mock_enable")
         if self.get_parameter("mock_enable").value:
             self.declare_parameter("mock_has_arm", rclpy.Parameter.Type.BOOL)
 

spot_driver/test/test_spot_driver.py

@@ -18,8 +18,14 @@ def setUp(self) -> None:
         self.fixture = contextlib.ExitStack()
         self.ros = self.fixture.enter_context(ros_scope.top(namespace="fixture"))
         # create and run spot ros2 servers
-        mock_param = rclpy.parameter.Parameter("spot_name", rclpy.Parameter.Type.STRING, "Mock_spot")
-        self.spot_ros2 = self.ros.load(spot_driver.spot_ros2.SpotROS, parameter_list=[mock_param])
+        self.spot_ros2 = self.ros.load(
+            spot_driver.spot_ros2.SpotROS,
+            parameter_list=[
+                rclpy.parameter.Parameter("spot_name", value="Mock_spot"),
+                rclpy.parameter.Parameter("mock_enable", value=True),
+                rclpy.parameter.Parameter("mock_has_arm", value=False),
+            ],
+        )
 
         # clients
         self.claim_client: rclpy.node.Client = self.ros.node.create_client(Trigger, "claim")