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saikishorsaikishor
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Added more tests for the chaining activation
1 parent 7151589 commit f7255c6

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-67
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‎controller_manager/test/test_controller_manager_srvs.cpp‎

Lines changed: 222 additions & 67 deletions
Original file line numberDiff line numberDiff line change
@@ -854,9 +854,11 @@ TEST_F(TestControllerManagerSrvs, list_sorted_chained_controllers)
854854
};
855855

856856
// Activate the whole chain by activating the top level controller
857-
ASSERT_EQ(controller_interface::return_type::OK, cm_->switch_controller(
858-
{"test_controller_name"}, {}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
859-
true, rclcpp::Duration(0, 0)));
857+
ASSERT_EQ(
858+
controller_interface::return_type::OK,
859+
cm_->switch_controller(
860+
{"test_controller_name"}, {}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
861+
true, rclcpp::Duration(0, 0)));
860862
check_lifecycle_state(
861863
{lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
862864
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
@@ -866,9 +868,11 @@ TEST_F(TestControllerManagerSrvs, list_sorted_chained_controllers)
866868
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
867869

868870
// redoing the switch should be a no-op and not change the states and it should be successful
869-
ASSERT_EQ(controller_interface::return_type::OK, cm_->switch_controller(
870-
{"test_controller_name"}, {}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
871-
true, rclcpp::Duration(0, 0)));
871+
ASSERT_EQ(
872+
controller_interface::return_type::OK,
873+
cm_->switch_controller(
874+
{"test_controller_name"}, {}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
875+
true, rclcpp::Duration(0, 0)));
872876
check_lifecycle_state(
873877
{lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
874878
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
@@ -878,9 +882,11 @@ TEST_F(TestControllerManagerSrvs, list_sorted_chained_controllers)
878882
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
879883

880884
// Now, deactivate the last controller in the chain and see that all controllers are deactivated
881-
ASSERT_EQ(controller_interface::return_type::OK, cm_->switch_controller(
882-
{}, {TEST_CHAINED_CONTROLLER_1}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
883-
true, rclcpp::Duration(0, 0)));
885+
ASSERT_EQ(
886+
controller_interface::return_type::OK,
887+
cm_->switch_controller(
888+
{}, {TEST_CHAINED_CONTROLLER_1},
889+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
884890
check_lifecycle_state(
885891
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
886892
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
@@ -891,9 +897,11 @@ TEST_F(TestControllerManagerSrvs, list_sorted_chained_controllers)
891897

892898
// Now activate the middle controller in the chain and see that all controllers below it are
893899
// activated
894-
ASSERT_EQ(controller_interface::return_type::OK, cm_->switch_controller(
895-
{TEST_CHAINED_CONTROLLER_4}, {}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
896-
true, rclcpp::Duration(0, 0)));
900+
ASSERT_EQ(
901+
controller_interface::return_type::OK,
902+
cm_->switch_controller(
903+
{TEST_CHAINED_CONTROLLER_4}, {},
904+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
897905
check_lifecycle_state(
898906
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
899907
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
@@ -903,9 +911,11 @@ TEST_F(TestControllerManagerSrvs, list_sorted_chained_controllers)
903911
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
904912

905913
// Now, deactivate 3, and see that 3 and 4 are deactivated
906-
ASSERT_EQ(controller_interface::return_type::OK, cm_->switch_controller(
907-
{}, {TEST_CHAINED_CONTROLLER_3}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
908-
true, rclcpp::Duration(0, 0)));
914+
ASSERT_EQ(
915+
controller_interface::return_type::OK,
916+
cm_->switch_controller(
917+
{}, {TEST_CHAINED_CONTROLLER_3},
918+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
909919
check_lifecycle_state(
910920
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
911921
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
@@ -915,9 +925,11 @@ TEST_F(TestControllerManagerSrvs, list_sorted_chained_controllers)
915925
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
916926

917927
// Redoing it should be a no-op and not change the states and it should be successful
918-
ASSERT_EQ(controller_interface::return_type::OK, cm_->switch_controller(
919-
{}, {TEST_CHAINED_CONTROLLER_3}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
920-
true, rclcpp::Duration(0, 0)));
928+
ASSERT_EQ(
929+
controller_interface::return_type::OK,
930+
cm_->switch_controller(
931+
{}, {TEST_CHAINED_CONTROLLER_3},
932+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
921933
check_lifecycle_state(
922934
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
923935
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
@@ -926,9 +938,11 @@ TEST_F(TestControllerManagerSrvs, list_sorted_chained_controllers)
926938
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
927939
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
928940

929-
ASSERT_EQ(controller_interface::return_type::OK, cm_->switch_controller(
930-
{TEST_CHAINED_CONTROLLER_4}, {}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
931-
true, rclcpp::Duration(0, 0)));
941+
ASSERT_EQ(
942+
controller_interface::return_type::OK,
943+
cm_->switch_controller(
944+
{TEST_CHAINED_CONTROLLER_4}, {},
945+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
932946
check_lifecycle_state(
933947
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
934948
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
@@ -937,9 +951,11 @@ TEST_F(TestControllerManagerSrvs, list_sorted_chained_controllers)
937951
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
938952
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
939953

940-
ASSERT_EQ(controller_interface::return_type::OK, cm_->switch_controller(
941-
{"test_controller_name"}, {}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
942-
true, rclcpp::Duration(0, 0)));
954+
ASSERT_EQ(
955+
controller_interface::return_type::OK,
956+
cm_->switch_controller(
957+
{"test_controller_name"}, {}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
958+
true, rclcpp::Duration(0, 0)));
943959
check_lifecycle_state(
944960
{lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
945961
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
@@ -1130,62 +1146,201 @@ TEST_F(TestControllerManagerSrvs, list_sorted_complex_chained_controllers)
11301146
ASSERT_GT(ctrl_4_pos, ctrl_5_pos);
11311147
ASSERT_GT(ctrl_3_pos, ctrl_4_pos);
11321148

1149+
auto check_lifecycle_state = [&](const std::vector<uint8_t> & expected_states)
1150+
{
1151+
ASSERT_EQ(expected_states[0], test_controller->get_lifecycle_state().id())
1152+
<< "Unexpected state for controller: " << test_controller->get_name();
1153+
ASSERT_EQ(expected_states[1], test_chained_controller_7->get_lifecycle_state().id())
1154+
<< "Unexpected state for controller: " << test_chained_controller_7->get_name();
1155+
ASSERT_EQ(expected_states[2], test_chained_controller_6->get_lifecycle_state().id())
1156+
<< "Unexpected state for controller: " << test_chained_controller_6->get_name();
1157+
ASSERT_EQ(expected_states[3], test_chained_controller_5->get_lifecycle_state().id())
1158+
<< "Unexpected state for controller: " << test_chained_controller_5->get_name();
1159+
ASSERT_EQ(expected_states[4], test_chained_controller_4->get_lifecycle_state().id())
1160+
<< "Unexpected state for controller: " << test_chained_controller_4->get_name();
1161+
ASSERT_EQ(expected_states[5], test_chained_controller_3->get_lifecycle_state().id())
1162+
<< "Unexpected state for controller: " << test_chained_controller_3->get_name();
1163+
ASSERT_EQ(expected_states[6], test_chained_controller_2->get_lifecycle_state().id())
1164+
<< "Unexpected state for controller: " << test_chained_controller_2->get_name();
1165+
ASSERT_EQ(expected_states[7], test_chained_controller_1->get_lifecycle_state().id())
1166+
<< "Unexpected state for controller: " << test_chained_controller_1->get_name();
1167+
};
1168+
11331169
// Now let's activate the top level controller and see if the whole chain is activated
1134-
cm_->switch_controller(
1135-
{"test_controller_name"}, {}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
1136-
true, rclcpp::Duration(0, 0));
11371170
ASSERT_EQ(
1138-
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_lifecycle_state().id());
1139-
ASSERT_EQ(
1140-
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1141-
test_chained_controller_7->get_lifecycle_state().id());
1142-
ASSERT_EQ(
1143-
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1144-
test_chained_controller_6->get_lifecycle_state().id());
1145-
ASSERT_EQ(
1146-
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1147-
test_chained_controller_5->get_lifecycle_state().id());
1148-
ASSERT_EQ(
1149-
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1150-
test_chained_controller_4->get_lifecycle_state().id());
1151-
ASSERT_EQ(
1152-
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1153-
test_chained_controller_3->get_lifecycle_state().id());
1171+
controller_interface::return_type::OK,
1172+
cm_->switch_controller(
1173+
{"test_controller_name"}, {}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
1174+
true, rclcpp::Duration(0, 0)));
1175+
1176+
check_lifecycle_state(
1177+
{lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1178+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1179+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1180+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1181+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1182+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1183+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1184+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
1185+
1186+
// Now deactivate the chained_controller_1 and everything should deactivate
11541187
ASSERT_EQ(
1155-
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1156-
test_chained_controller_2->get_lifecycle_state().id());
1188+
controller_interface::return_type::OK,
1189+
cm_->switch_controller(
1190+
{}, {TEST_CHAINED_CONTROLLER_1},
1191+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
1192+
1193+
check_lifecycle_state(
1194+
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1195+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1196+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1197+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1198+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1199+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1200+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1201+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE});
1202+
11571203
ASSERT_EQ(
1158-
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1159-
test_chained_controller_1->get_lifecycle_state().id());
1204+
controller_interface::return_type::OK,
1205+
cm_->switch_controller(
1206+
{TEST_CHAINED_CONTROLLER_6}, {},
1207+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
1208+
check_lifecycle_state(
1209+
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1210+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1211+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1212+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1213+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1214+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1215+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1216+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
11601217

1161-
// Now deactivate the chained_controller_1 and everything should deactivate
1162-
cm_->switch_controller(
1163-
{}, {TEST_CHAINED_CONTROLLER_1}, controller_manager_msgs::srv::SwitchController::Request::AUTO,
1164-
true, rclcpp::Duration(0, 0));
1218+
// Now deactivate the chained_controller_1 and 3 and everything should deactivate
11651219
ASSERT_EQ(
1166-
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1167-
test_controller->get_lifecycle_state().id());
1220+
controller_interface::return_type::OK,
1221+
cm_->switch_controller(
1222+
{}, {TEST_CHAINED_CONTROLLER_1, TEST_CHAINED_CONTROLLER_3},
1223+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
1224+
1225+
check_lifecycle_state(
1226+
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1227+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1228+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1229+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1230+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1231+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1232+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1233+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE});
1234+
11681235
ASSERT_EQ(
1169-
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1170-
test_chained_controller_7->get_lifecycle_state().id());
1236+
controller_interface::return_type::OK,
1237+
cm_->switch_controller(
1238+
{TEST_CHAINED_CONTROLLER_2}, {},
1239+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
1240+
1241+
check_lifecycle_state(
1242+
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1243+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1244+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1245+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1246+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1247+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1248+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1249+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
1250+
11711251
ASSERT_EQ(
1172-
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1173-
test_chained_controller_6->get_lifecycle_state().id());
1252+
controller_interface::return_type::OK,
1253+
cm_->switch_controller(
1254+
{TEST_CHAINED_CONTROLLER_5}, {},
1255+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
1256+
check_lifecycle_state(
1257+
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1258+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1259+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1260+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1261+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1262+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1263+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1264+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
1265+
11741266
ASSERT_EQ(
1175-
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1176-
test_chained_controller_5->get_lifecycle_state().id());
1267+
controller_interface::return_type::OK,
1268+
cm_->switch_controller(
1269+
{TEST_CHAINED_CONTROLLER_7}, {},
1270+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
1271+
check_lifecycle_state(
1272+
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1273+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1274+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1275+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1276+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1277+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1278+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1279+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
1280+
1281+
// repeating the last should also result in same state and succeed
1282+
11771283
ASSERT_EQ(
1178-
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1179-
test_chained_controller_4->get_lifecycle_state().id());
1284+
controller_interface::return_type::OK,
1285+
cm_->switch_controller(
1286+
{TEST_CHAINED_CONTROLLER_7}, {},
1287+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
1288+
check_lifecycle_state(
1289+
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1290+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1291+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1292+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1293+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1294+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1295+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1296+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
1297+
11801298
ASSERT_EQ(
1181-
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1182-
test_chained_controller_3->get_lifecycle_state().id());
1299+
controller_interface::return_type::OK,
1300+
cm_->switch_controller(
1301+
{TEST_CHAINED_CONTROLLER_5, TEST_CHAINED_CONTROLLER_2}, {},
1302+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
1303+
check_lifecycle_state(
1304+
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1305+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1306+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1307+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1308+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1309+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1310+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1311+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
1312+
1313+
// Deactivate the whole chain by deactivating 1 and 3
11831314
ASSERT_EQ(
1184-
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1185-
test_chained_controller_2->get_lifecycle_state().id());
1315+
controller_interface::return_type::OK,
1316+
cm_->switch_controller(
1317+
{}, {TEST_CHAINED_CONTROLLER_1, TEST_CHAINED_CONTROLLER_3},
1318+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
1319+
1320+
check_lifecycle_state(
1321+
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1322+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1323+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1324+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1325+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1326+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1327+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1328+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE});
1329+
11861330
ASSERT_EQ(
1187-
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1188-
test_chained_controller_1->get_lifecycle_state().id());
1331+
controller_interface::return_type::OK,
1332+
cm_->switch_controller(
1333+
{TEST_CHAINED_CONTROLLER_2, TEST_CHAINED_CONTROLLER_5}, {},
1334+
controller_manager_msgs::srv::SwitchController::Request::AUTO, true, rclcpp::Duration(0, 0)));
1335+
check_lifecycle_state(
1336+
{lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1337+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1338+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
1339+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1340+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1341+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1342+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
1343+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE});
11891344
}
11901345

11911346
TEST_F(TestControllerManagerSrvs, list_sorted_independent_chained_controllers)

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