Merge branch 'master' into fix/test_init

Author: soham2560

controller_manager/CMakeLists.txt

@@ -247,6 +247,7 @@ if(BUILD_TESTING)
   install(FILES test/test_ros2_control_node.yaml
     DESTINATION test)
   ament_add_pytest_test(test_ros2_control_node test/test_ros2_control_node_launch.py)
+  ament_add_pytest_test(test_test_utils test/test_test_utils.py)
 endif()
 
 install(

controller_manager/controller_manager/spawner.py

@@ -182,7 +182,10 @@ def main(args=None):
         ros_home = os.getenv("ROS_HOME", os.path.join(os.path.expanduser("~"), ".ros"))
         ros_control_lock_dir = os.path.join(ros_home, "locks")
         if not os.path.exists(ros_control_lock_dir):
-            os.makedirs(ros_control_lock_dir)
+            try:
+                os.makedirs(ros_control_lock_dir)
+            except FileExistsError:
+                pass
         lock = FileLock(f"{ros_control_lock_dir}/ros2-control-controller-spawner.lock")
         max_retries = 5
         retry_delay = 3  # seconds

controller_manager/test/test_ros2_control_node_launch.py

@@ -37,16 +37,13 @@
 from launch_testing.actions import ReadyToTest
 import launch_testing.markers
 import launch_ros.actions
-from sensor_msgs.msg import JointState
 
 import rclpy
 from controller_manager.test_utils import (
     check_controllers_running,
-    check_if_js_published,
     check_node_running,
 )
 from controller_manager.launch_utils import generate_controllers_spawner_launch_description
-import threading
 
 
 # Executes the given launch file and checks if all nodes can be started
@@ -105,31 +102,13 @@ def setUp(self):
     def tearDown(self):
         self.node.destroy_node()
 
-    def timer_callback(self):
-        js_msg = JointState()
-        js_msg.name = ["joint0"]
-        js_msg.position = [0.0]
-        self.pub.publish(js_msg)
-
-    def publish_joint_states(self):
-        self.pub = self.node.create_publisher(JointState, "/joint_states", 10)
-        self.timer = self.node.create_timer(1.0, self.timer_callback)
-        rclpy.spin(self.node)
-
     def test_node_start(self):
         check_node_running(self.node, "controller_manager")
 
     def test_controllers_start(self):
         cnames = ["ctrl_with_parameters_and_type"]
         check_controllers_running(self.node, cnames, state="active")
 
-    def test_check_if_msgs_published(self):
-        # we don't have a joint_state_broadcaster in this repo,
-        # publish joint states manually to test check_if_js_published
-        thread = threading.Thread(target=self.publish_joint_states)
-        thread.start()
-        check_if_js_published("/joint_states", ["joint0"])
-
 
 @launch_testing.post_shutdown_test()
 # These tests are run after the processes in generate_test_description() have shutdown.

controller_manager/test/test_test_utils.py

@@ -0,0 +1,76 @@
+# Copyright (c) 2025 AIT - Austrian Institute of Technology GmbH
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Christoph Froehlich
+
+import unittest
+from sensor_msgs.msg import JointState
+
+import rclpy
+from controller_manager.test_utils import (
+    check_if_js_published,
+)
+import threading
+
+
+# This is our test fixture. Each method is a test case.
+# These run alongside the processes specified in generate_test_description()
+class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
+
+    def setUp(self):
+        self.node = rclpy.create_node("test_node")
+
+    def tearDown(self):
+        self.node.destroy_node()
+
+    def timer_callback(self):
+        js_msg = JointState()
+        js_msg.name = ["joint0"]
+        js_msg.position = [0.0]
+        self.pub.publish(js_msg)
+
+    def publish_joint_states(self):
+        self.pub = self.node.create_publisher(JointState, "/joint_states", 10)
+        self.timer = self.node.create_timer(1.0, self.timer_callback)
+        rclpy.spin(self.node)
+
+    def test_check_if_msgs_published(self):
+        # we don't have a joint_state_broadcaster in this repo,
+        # publish joint states manually to test check_if_js_published
+        thread = threading.Thread(target=self.publish_joint_states)
+        thread.start()
+        check_if_js_published("/joint_states", ["joint0"])
+
+    # Note: Other test cases are in test_ros2_control_node_launch.py

hardware_interface/include/hardware_interface/hardware_component_interface.hpp

@@ -697,6 +697,16 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
     lifecycle_state_ = new_state;
   }
 
+  /// Does the state interface exist?
+  /**
+   * \param[in] interface_name The name of the state interface.
+   * \return true if the state interface exists, false otherwise.
+   */
+  bool has_state(const std::string & interface_name) const
+  {
+    return hardware_states_.find(interface_name) != hardware_states_.end();
+  }
+
   /// Set the value of a state interface.
   /**
    * \tparam T The type of the value to be stored.
@@ -757,6 +767,16 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
     return opt_value.value();
   }
 
+  /// Does the command interface exist?
+  /**
+   * \param[in] interface_name The name of the command interface.
+   * \return true if the command interface exists, false otherwise.
+   */
+  bool has_command(const std::string & interface_name) const
+  {
+    return hardware_commands_.find(interface_name) != hardware_commands_.end();
+  }
+
   /// Set the value of a command interface.
   /**
    * \tparam T The type of the value to be stored.

hardware_interface/include/mock_components/generic_system.hpp

@@ -45,6 +45,9 @@ class GenericSystem : public hardware_interface::SystemInterface
   CallbackReturn on_init(
     const hardware_interface::HardwareComponentInterfaceParams & params) override;
 
+  hardware_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
   hardware_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
@@ -79,10 +82,6 @@ class GenericSystem : public hardware_interface::SystemInterface
     hardware_interface::HW_IF_ACCELERATION, hardware_interface::HW_IF_EFFORT};
   std::vector<std::string> skip_interfaces_;
 
-  std::vector<std::string> other_interfaces_;
-  std::vector<std::string> sensor_interfaces_;
-  std::vector<std::string> gpio_mock_interfaces_;
-
 private:
   bool populate_interfaces(
     const std::vector<hardware_interface::ComponentInfo> & components,