Check robot description validity on AdmittanceController and test for it

[caio-freitas]

Fix #713

• Uncommented test case with "bad_robot" as robot description from test suite in test_admittance_controller.cpp.
• Updated the on_init on test_admittance_controller.hpp to only override the robot description with the one defined in the ros2_control_test_assets if not already defined.
• On the initialization of the admittance controller, verified if the robot description is a valid xml, similar to what's done in ros2_control/hardware_interface/src/component_parser.cpp (here)

[christophfroehlich]

Thank you for taking this. I have some doubts if this is tested properly, see the comments

[christophfroehlich]

Thinking again, is there really a need to check this inside the controller? The controller manager will not start with a broken urdf, right @saikishor ?

[saikishor]

I agree with @christophfroehlich that this is not needed as CM provides a valid one.

Can you explain to us, why did you have a need to do this?

[christophfroehlich]

see the linked issue, but this was before we passed the robot description from the cm to the controllers. sorry for not checking that earlier. @caio-freitas would you mind in reverting this and cleanup the tests as by my comments instead?

[christophfroehlich]

Please fix the failing pre-commit tests: install it locally with pre-commit install, and run pre-commit run --all now to fix.

[codecov]

Codecov Report

❌ Patch coverage is 57.14286% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.41%. Comparing base (d71538a) to head (8c08f8c).
⚠️ Report is 11 commits behind head on master.

Files with missing lines	Patch %	Lines
...dmittance_controller/src/admittance_controller.cpp	44.44%	4 Missing and 1 partial ⚠️
...nce_controller/test/test_admittance_controller.hpp	80.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2009      +/-   ##
==========================================
+ Coverage   85.32%   85.41%   +0.09%     
==========================================
  Files         143      143              
  Lines       13936    13674     -262     
  Branches     1201     1191      -10     
==========================================
- Hits        11891    11680     -211     
+ Misses       1638     1591      -47     
+ Partials      407      403       -4     

Flag	Coverage Δ
unittests	85.41% <57.14%> (+0.09%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...nce_controller/test/test_admittance_controller.cpp	100.00% <ø> (ø)
...nce_controller/test/test_admittance_controller.hpp	94.65% <80.00%> (-0.46%)	⬇️
...dmittance_controller/src/admittance_controller.cpp	73.61% <44.44%> (-0.95%)	⬇️

... and 7 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[christophfroehlich]

the compatibility build fails, please review

[christophfroehlich]

   --- stderr: admittance_controller
  CMake Error at CMakeLists.txt:33 (find_package):
    By not providing "Findtinyxml2.cmake" in CMAKE_MODULE_PATH this project has
    asked CMake to find a package configuration file provided by "tinyxml2",
    but CMake did not find one.
  
    Could not find a package configuration file provided by "tinyxml2" with any
    of the following names:
  
      tinyxml2Config.cmake
      tinyxml2-config.cmake
  
    Add the installation prefix of "tinyxml2" to CMAKE_PREFIX_PATH or set
    "tinyxml2_DIR" to a directory containing one of the above files.  If
    "tinyxml2" provides a separate development package or SDK, be sure it has
    been installed.
  
  
  ---

But it works here
https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/CMakeLists.txt#L16
with the capitalized version

Suggested change

	tinyxml2
	TinyXML2

[christophfroehlich]

And please add to target_link_libraries below:

                  ${TinyXML2_LIBRARIES}