search

ros-controls / ros2_control

Generic and simple controls framework for ROS 2
https://control.ros.org
Apache License 2.0
477 stars 293 forks source link

Add tests for parsing ros arguments to the CM #1714

Open saikishor opened 1 month ago

saikishor commented 1 month ago

We need to add tests parsing different --ros-args to the CM node to be able to propagate to the controllers. This will be needed to properly add testing to the changes in #1712

SantoshGovindaraj commented 1 week ago

Hello @saikishor ,

I’d like to take on this issue and focus on adding tests for the function ControllerManager::determine_controller_node_options, where the --ros-args are processed and propagated to the controllers, I believe.

What I see that the function ensures:

  1. Handling of __ns (namespace) and __node arguments to avoid conflicts.
  2. Correct passing of parameter files through --ros-args.
  3. Propagation of use_sim_time from the Controller Manager to the controllers.

So I plan to write tests covering:

Could you let me know if there are any additional test cases you'd like to include?

Thanks!

saikishor commented 1 week ago

Hello @SantoshGovindaraj!

I don't think it would be needed. I have addressed testing of this in #1713, but I forgot to link the issue. Sorry for the confusion.

SantoshGovindaraj commented 1 week ago

Thanks @saikishor for the update! I'll take a look at the tests in #1713. If I spot anything that could use more coverage, I'll let you know. Otherwise, I'll move on to another task.