Add set_custom_node_parameters

Author: christophfroehlich

kinematics_interface/test/kinematics_interface_common_tests.hpp

@@ -56,10 +56,11 @@ class TestPlugin : public ::testing::Test
       ik_loader_->createUnmanagedInstance(plugin_name));
 
     node_->declare_parameter("verbose", true);
-    node_->declare_parameter("alpha", 0.005);
     node_->declare_parameter("robot_description", urdf_);
     node_->declare_parameter("tip", end_effector_);
     node_->declare_parameter("base", std::string(""));
+
+    PluginUnderTest::set_custom_node_parameters(node_);
   }
 
   void TearDown()
@@ -80,17 +81,6 @@ class TestPlugin : public ::testing::Test
     node_->set_parameter(param);
   }
 
-  /**
-   * \brief Used for testing initialization from parameters.
-   * Elsewhere, default 0.005 is used.
-  */
-
-  void loadAlphaParameter(double alpha)
-  {
-    rclcpp::Parameter param("alpha", alpha);
-    node_->set_parameter(param);
-  }
-
   /**
    * \brief Used for testing initialization from parameters.
    * Elsewhere, `end_effector_` member is used.

kinematics_interface_kdl/test/test_kinematics_interface_kdl.cpp

@@ -21,6 +21,10 @@
 struct PluginKDL
 {
   static std::string Name() { return "kinematics_interface_kdl/KinematicsInterfaceKDL"; }
+  static void set_custom_node_parameters(rclcpp_lifecycle::LifecycleNode::SharedPtr node)
+  {
+    node->declare_parameter("alpha", 0.005);
+  }
 };
 
 using MyTypes = ::testing::Types<PluginKDL>;