Use gtest instead of launch_testing for integration test

ros-controls · Aug 15, 2024 · 723a896 · 723a896
1 parent a117f8c
commit 723a896
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Showing 7 changed files with 26 additions and 404 deletions.
diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -211,14 +211,6 @@ if(BUILD_TESTING)
     controller_manager_msgs
   )
 
-  install(FILES test/test_controllers.yaml
-  DESTINATION test)
-
-  find_package(launch_testing_ament_cmake REQUIRED)
-  add_launch_test(test/test_spawner_integration.py
-    TIMEOUT 180
-  )
-
   find_package(ament_cmake_pytest REQUIRED)
   install(FILES test/test_ros2_control_node.yaml
     DESTINATION test)

diff --git a/controller_manager/package.xml b/controller_manager/package.xml
@@ -32,10 +32,8 @@
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>hardware_interface_testing</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>python3-coverage</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
-  <test_depend>xacro</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/controller_manager/test/test_controllers.yaml b/controller_manager/test/test_controllers.yaml
diff --git a/controller_manager/test/test_spawner_integration.py b/controller_manager/test/test_spawner_integration.py
diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
@@ -374,6 +374,32 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers)
   }
 }
 
+TEST_F(TestLoadController, spawner_with_many_controllers)
+{
+  std::stringstream ss;
+  const size_t num_controllers = 50;
+  const std::string controller_base_name = "ctrl_";
+  for (size_t i = 0; i < num_controllers; i++)
+  {
+    std::string controller_name = controller_base_name + std::to_string(static_cast<int>(i));
+    cm_->set_parameter(
+      rclcpp::Parameter(controller_name + ".type", test_controller::TEST_CONTROLLER_CLASS_NAME));
+    ss << controller_name << " ";
+  }
+
+  ControllerManagerRunner cm_runner(this);
+  EXPECT_EQ(call_spawner(ss.str() + " -c test_controller_manager"), 0);
+
+  ASSERT_EQ(cm_->get_loaded_controllers().size(), num_controllers);
+
+  for (size_t i = 0; i < num_controllers; i++)
+  {
+    auto ctrl = cm_->get_loaded_controllers()[i];
+    ASSERT_EQ(ctrl.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
+    ASSERT_EQ(ctrl.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  }
+}
+
 class TestLoadControllerWithoutRobotDescription
 : public ControllerManagerFixture<controller_manager::ControllerManager>
 {

diff --git a/ros2_control_test_assets/CMakeLists.txt b/ros2_control_test_assets/CMakeLists.txt
@@ -14,10 +14,6 @@ install(
   DIRECTORY include/
   DESTINATION include/ros2_control_test_assets
 )
-install(
-  DIRECTORY urdf
-  DESTINATION share/${PROJECT_NAME}
-)
 install(TARGETS ros2_control_test_assets
   EXPORT export_ros2_control_test_assets
   ARCHIVE DESTINATION lib