X-lanni
89 lines
2.9 KiB
C++
89 lines
2.9 KiB
C++
// Copyright (c) 2021, Samsung Research America
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License. Reserved.
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#include <math.h>
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#include <memory>
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#include <string>
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#include <vector>
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#include "gtest/gtest.h"
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#include "nav2_util/lifecycle_node.hpp"
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#include "nav2_controller/controller_server.hpp"
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#include "rclcpp/rclcpp.hpp"
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class ControllerShim : public nav2_controller::ControllerServer
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{
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public:
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ControllerShim()
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: nav2_controller::ControllerServer(rclcpp::NodeOptions())
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{
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}
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// Since we cannot call configure/activate due to costmaps
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// requiring TF
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void setDynamicCallback()
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{
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auto node = shared_from_this();
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// Add callback for dynamic parameters
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dyn_params_handler_ = node->add_on_set_parameters_callback(
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std::bind(&ControllerShim::dynamicParamsShim, this, std::placeholders::_1));
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}
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rcl_interfaces::msg::SetParametersResult
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dynamicParamsShim(std::vector<rclcpp::Parameter> parameters)
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{
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rcl_interfaces::msg::SetParametersResult result;
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result.successful = true;
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dynamicParametersCallback(parameters);
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return result;
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}
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};
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class RclCppFixture
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{
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public:
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RclCppFixture() {rclcpp::init(0, nullptr);}
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~RclCppFixture() {rclcpp::shutdown();}
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};
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RclCppFixture g_rclcppfixture;
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TEST(WPTest, test_dynamic_parameters)
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{
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auto controller = std::make_shared<ControllerShim>();
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controller->setDynamicCallback();
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auto rec_param = std::make_shared<rclcpp::AsyncParametersClient>(
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controller->get_node_base_interface(), controller->get_node_topics_interface(),
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controller->get_node_graph_interface(),
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controller->get_node_services_interface());
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auto results = rec_param->set_parameters_atomically(
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{rclcpp::Parameter("controller_frequency", 100.0),
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rclcpp::Parameter("min_x_velocity_threshold", 100.0),
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rclcpp::Parameter("min_y_velocity_threshold", 100.0),
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rclcpp::Parameter("min_theta_velocity_threshold", 100.0),
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rclcpp::Parameter("failure_tolerance", 5.0)});
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rclcpp::spin_until_future_complete(
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controller->get_node_base_interface(),
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results);
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EXPECT_EQ(controller->get_parameter("controller_frequency").as_double(), 100.0);
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EXPECT_EQ(controller->get_parameter("min_x_velocity_threshold").as_double(), 100.0);
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EXPECT_EQ(controller->get_parameter("min_y_velocity_threshold").as_double(), 100.0);
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EXPECT_EQ(controller->get_parameter("min_theta_velocity_threshold").as_double(), 100.0);
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EXPECT_EQ(controller->get_parameter("failure_tolerance").as_double(), 5.0);
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}
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