Test fix - call appropriate lifecycle transitions in controller tests: admittance_controller, pose_broadcaster, tricycle_steering_controller

admittance_controller/test/test_admittance_controller.cpp

@@ -79,7 +79,7 @@ TEST_F(AdmittanceControllerTest, all_parameters_set_configure_success)
 
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
 
   ASSERT_TRUE(!controller_->admittance_->parameters_.joints.empty());
   ASSERT_TRUE(controller_->admittance_->parameters_.joints.size() == joint_names_.size());
@@ -156,7 +156,7 @@ TEST_F(AdmittanceControllerTest, check_interfaces)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
 
   auto command_interfaces = controller_->command_interface_configuration();
   ASSERT_EQ(command_interfaces.names.size(), joint_command_values_.size());
@@ -200,26 +200,26 @@ TEST_F(AdmittanceControllerTest, activate_success)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
   ASSERT_EQ(
     controller_->command_interfaces_.size(), command_interface_types_.size() * joint_names_.size());
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(activate_succeeds(controller_));
 }
 
 TEST_F(AdmittanceControllerTest, missing_pos_state_interface)
 {
   auto overrides = {rclcpp::Parameter("state_interfaces", std::vector<std::string>{"velocity"})};
   SetUpController("test_admittance_controller", overrides);
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_FAILURE);
+  ASSERT_FALSE(configure_succeeds(controller_));
 }
 
 TEST_F(AdmittanceControllerTest, only_vel_command_interface)
 {
   command_interface_types_ = {"velocity"};
   auto overrides = {rclcpp::Parameter("command_interfaces", std::vector<std::string>{"velocity"})};
   SetUpController("test_admittance_controller", overrides);
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
   ASSERT_EQ(
     controller_->update_and_write_commands(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
@@ -230,31 +230,31 @@ TEST_F(AdmittanceControllerTest, only_pos_reference_interface)
   auto overrides = {
     rclcpp::Parameter("chainable_command_interfaces", std::vector<std::string>{"position"})};
   SetUpController("test_admittance_controller", overrides);
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
 }
 
 TEST_F(AdmittanceControllerTest, only_vel_reference_interface)
 {
   auto overrides = {
     rclcpp::Parameter("chainable_command_interfaces", std::vector<std::string>{"velocity"})};
   SetUpController("test_admittance_controller", overrides);
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
 }
 
 TEST_F(AdmittanceControllerTest, invalid_reference_interface)
 {
   auto overrides = {rclcpp::Parameter(
     "chainable_command_interfaces", std::vector<std::string>{"invalid_interface"})};
   SetUpController("test_admittance_controller", overrides);
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR);
+  ASSERT_FALSE(configure_succeeds(controller_));
 }
 
 TEST_F(AdmittanceControllerTest, update_success)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
   broadcast_tfs();
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
@@ -265,20 +265,20 @@ TEST_F(AdmittanceControllerTest, deactivate_success)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
+  ASSERT_TRUE(deactivate_succeeds(controller_));
 }
 
 TEST_F(AdmittanceControllerTest, reactivate_success)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
+  ASSERT_TRUE(deactivate_succeeds(controller_));
   assign_interfaces();
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(activate_succeeds(controller_));
   broadcast_tfs();
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
@@ -289,8 +289,8 @@ TEST_F(AdmittanceControllerTest, publish_status_success)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
 
   broadcast_tfs();
   ASSERT_EQ(
@@ -325,8 +325,8 @@ TEST_F(AdmittanceControllerTest, receive_message_and_publish_updated_status)
   rclcpp::executors::MultiThreadedExecutor executor;
   executor.add_node(controller_->get_node()->get_node_base_interface());
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
   broadcast_tfs();
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
@@ -360,8 +360,8 @@ TEST_F(AdmittanceControllerTest, check_frame_ids_in_controller_state)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
 
   broadcast_tfs();  // force torque sensor
 

admittance_controller/test/test_admittance_controller.hpp

@@ -31,6 +31,7 @@
 
 #include "admittance_controller/admittance_controller.hpp"
 #include "control_msgs/msg/admittance_controller_state.hpp"
+#include "controller_interface/test_utils.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
@@ -50,6 +51,11 @@ using ControllerCommandPoseMsg = geometry_msgs::msg::PoseStamped;
 using ControllerCommandJointMsg = trajectory_msgs::msg::JointTrajectoryPoint;
 using ControllerStateMsg = control_msgs::msg::AdmittanceControllerState;
 
+using controller_interface::activate_succeeds;
+using controller_interface::cleanup_succeeds;
+using controller_interface::configure_succeeds;
+using controller_interface::deactivate_succeeds;
+
 namespace
 {
 const double COMMON_THRESHOLD = 0.001;

pose_broadcaster/test/test_pose_broadcaster.cpp

@@ -56,9 +56,7 @@ TEST_F(PoseBroadcasterTest, Configure_Success)
   pose_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});
 
   // Configure controller
-  ASSERT_EQ(
-    pose_broadcaster_->on_configure(rclcpp_lifecycle::State{}),
-    controller_interface::CallbackReturn::SUCCESS);
+  ASSERT_TRUE(configure_succeeds(pose_broadcaster_));
 
   // Verify command interface configuration
   const auto command_interface_conf = pose_broadcaster_->command_interface_configuration();
@@ -81,12 +79,8 @@ TEST_F(PoseBroadcasterTest, Activate_Success)
   pose_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});
 
   // Configure and activate controller
-  ASSERT_EQ(
-    pose_broadcaster_->on_configure(rclcpp_lifecycle::State{}),
-    controller_interface::CallbackReturn::SUCCESS);
-  ASSERT_EQ(
-    pose_broadcaster_->on_activate(rclcpp_lifecycle::State{}),
-    controller_interface::CallbackReturn::SUCCESS);
+  ASSERT_TRUE(configure_succeeds(pose_broadcaster_));
+  ASSERT_TRUE(activate_succeeds(pose_broadcaster_));
 
   // Verify command and state interface configuration
   {
@@ -102,9 +96,7 @@ TEST_F(PoseBroadcasterTest, Activate_Success)
   }
 
   // Deactivate controller
-  ASSERT_EQ(
-    pose_broadcaster_->on_deactivate(rclcpp_lifecycle::State{}),
-    controller_interface::CallbackReturn::SUCCESS);
+  ASSERT_TRUE(deactivate_succeeds(pose_broadcaster_));
 
   // Verify command and state interface configuration
   {
@@ -129,12 +121,8 @@ TEST_F(PoseBroadcasterTest, Update_Success)
   pose_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});
 
   // Configure and activate controller
-  ASSERT_EQ(
-    pose_broadcaster_->on_configure(rclcpp_lifecycle::State{}),
-    controller_interface::CallbackReturn::SUCCESS);
-  ASSERT_EQ(
-    pose_broadcaster_->on_activate(rclcpp_lifecycle::State{}),
-    controller_interface::CallbackReturn::SUCCESS);
+  ASSERT_TRUE(configure_succeeds(pose_broadcaster_));
+  ASSERT_TRUE(activate_succeeds(pose_broadcaster_));
 
   ASSERT_EQ(
     pose_broadcaster_->update(rclcpp::Time{0}, rclcpp::Duration::from_seconds(0.01)),
@@ -154,12 +142,8 @@ TEST_F(PoseBroadcasterTest, PublishSuccess)
   pose_broadcaster_->get_node()->set_parameter({"tf.child_frame_id", tf_child_frame_id_});
 
   // Configure and activate controller
-  ASSERT_EQ(
-    pose_broadcaster_->on_configure(rclcpp_lifecycle::State{}),
-    controller_interface::CallbackReturn::SUCCESS);
-  ASSERT_EQ(
-    pose_broadcaster_->on_activate(rclcpp_lifecycle::State{}),
-    controller_interface::CallbackReturn::SUCCESS);
+  ASSERT_TRUE(configure_succeeds(pose_broadcaster_));
+  ASSERT_TRUE(activate_succeeds(pose_broadcaster_));
 
   // Subscribe to pose topic
   geometry_msgs::msg::PoseStamped pose_msg;
@@ -205,12 +189,8 @@ TEST_F(PoseBroadcasterTest, invalid_pose_no_tf_published)
   pose_broadcaster_->get_node()->set_parameter({"tf.child_frame_id", tf_child_frame_id_});
 
   // Configure and activate controller
-  ASSERT_EQ(
-    pose_broadcaster_->on_configure(rclcpp_lifecycle::State{}),
-    controller_interface::CallbackReturn::SUCCESS);
-  ASSERT_EQ(
-    pose_broadcaster_->on_activate(rclcpp_lifecycle::State{}),
-    controller_interface::CallbackReturn::SUCCESS);
+  ASSERT_TRUE(configure_succeeds(pose_broadcaster_));
+  ASSERT_TRUE(activate_succeeds(pose_broadcaster_));
 
   ASSERT_TRUE(pose_position_x_->set_value(std::numeric_limits<double>::quiet_NaN()));
 

pose_broadcaster/test/test_pose_broadcaster.hpp

@@ -20,12 +20,18 @@
 #include <memory>
 #include <string>
 
+#include "controller_interface/test_utils.hpp"
 #include "rclcpp/executors.hpp"
 
 #include "pose_broadcaster/pose_broadcaster.hpp"
 
 using pose_broadcaster::PoseBroadcaster;
 
+using controller_interface::activate_succeeds;
+using controller_interface::cleanup_succeeds;
+using controller_interface::configure_succeeds;
+using controller_interface::deactivate_succeeds;
+
 class PoseBroadcasterTest : public ::testing::Test
 {
 public:

tricycle_steering_controller/test/test_tricycle_steering_controller.cpp

@@ -28,7 +28,7 @@ TEST_F(TricycleSteeringControllerTest, all_parameters_set_configure_success)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
 
   ASSERT_THAT(
     controller_->params_.traction_joints_names, testing::ElementsAreArray(traction_joints_names_));
@@ -46,7 +46,7 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
 
   auto cmd_if_conf = controller_->command_interface_configuration();
   ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
@@ -92,8 +92,8 @@ TEST_F(TricycleSteeringControllerTest, activate_success)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
 
   // check that the message is reset
   auto msg = controller_->input_ref_.get();
@@ -109,8 +109,8 @@ TEST_F(TricycleSteeringControllerTest, update_success)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
 
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
@@ -121,20 +121,20 @@ TEST_F(TricycleSteeringControllerTest, deactivate_success)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
+  ASSERT_TRUE(deactivate_succeeds(controller_));
 }
 
 TEST_F(TricycleSteeringControllerTest, reactivate_success)
 {
   SetUpController();
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
+  ASSERT_TRUE(deactivate_succeeds(controller_));
   ASSERT_TRUE(std::isnan(controller_->command_interfaces_[0].get_optional().value()));
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(activate_succeeds(controller_));
   ASSERT_TRUE(std::isnan(controller_->command_interfaces_[0].get_optional().value()));
 
   ASSERT_EQ(
@@ -148,9 +148,9 @@ TEST_F(TricycleSteeringControllerTest, test_update_logic)
   rclcpp::executors::MultiThreadedExecutor executor;
   executor.add_node(controller_->get_node()->get_node_base_interface());
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
   controller_->set_chained_mode(false);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(activate_succeeds(controller_));
   ASSERT_FALSE(controller_->is_in_chained_mode());
 
   // set command statically
@@ -188,9 +188,9 @@ TEST_F(TricycleSteeringControllerTest, test_update_logic_chained)
   rclcpp::executors::MultiThreadedExecutor executor;
   executor.add_node(controller_->get_node()->get_node_base_interface());
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
   controller_->set_chained_mode(true);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(activate_succeeds(controller_));
   ASSERT_TRUE(controller_->is_in_chained_mode());
 
   controller_->reference_interfaces_[0] = 0.1;
@@ -225,8 +225,8 @@ TEST_F(TricycleSteeringControllerTest, receive_message_and_publish_updated_statu
   rclcpp::executors::MultiThreadedExecutor executor;
   executor.add_node(controller_->get_node()->get_node_base_interface());
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_TRUE(configure_succeeds(controller_));
+  ASSERT_TRUE(activate_succeeds(controller_));
 
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),

tricycle_steering_controller/test/test_tricycle_steering_controller.hpp

@@ -23,6 +23,7 @@
 #include <utility>
 #include <vector>
 
+#include "controller_interface/test_utils.hpp"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "rclcpp/executor.hpp"
@@ -46,6 +47,11 @@ using tricycle_steering_controller::CMD_STEER_WHEEL;
 using tricycle_steering_controller::CMD_TRACTION_LEFT_WHEEL;
 using tricycle_steering_controller::CMD_TRACTION_RIGHT_WHEEL;
 
+using controller_interface::activate_succeeds;
+using controller_interface::cleanup_succeeds;
+using controller_interface::configure_succeeds;
+using controller_interface::deactivate_succeeds;
+
 namespace
 {
 constexpr auto NODE_SUCCESS = controller_interface::CallbackReturn::SUCCESS;