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saikishorsaikishor
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Fix the prepare_command_mode_switch behaviour when HW is INACTIVE (#2347)
1 parent a8b4696 commit 750ac8a

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3 files changed

+190
-33
lines changed

3 files changed

+190
-33
lines changed

‎controller_manager/src/controller_manager.cpp

Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -2699,8 +2699,9 @@ void ControllerManager::read(const rclcpp::Time & time, const rclcpp::Duration &
26992699
rt_buffer_.get_concatenated_string(rt_buffer_.deactivate_controllers_list).c_str());
27002700
std::vector<ControllerSpec> & rt_controller_list =
27012701
rt_controllers_wrapper_.update_and_get_used_by_rt_list();
2702-
perform_hardware_command_mode_change(
2703-
rt_controller_list, {}, rt_buffer_.deactivate_controllers_list, "read");
2702+
2703+
// As the hardware is in UNCONFIGURED state with error call, no need to prepare or perform
2704+
// command mode switch
27042705
deactivate_controllers(rt_controller_list, rt_buffer_.deactivate_controllers_list);
27052706
// TODO(destogl): do auto-start of broadcasters
27062707
}
@@ -2970,8 +2971,8 @@ void ControllerManager::write(const rclcpp::Time & time, const rclcpp::Duration
29702971
std::vector<ControllerSpec> & rt_controller_list =
29712972
rt_controllers_wrapper_.update_and_get_used_by_rt_list();
29722973

2973-
perform_hardware_command_mode_change(
2974-
rt_controller_list, {}, rt_buffer_.deactivate_controllers_list, "write");
2974+
// As the hardware is in UNCONFIGURED state with error call, no need to prepare or perform
2975+
// command mode switch
29752976
deactivate_controllers(rt_controller_list, rt_buffer_.deactivate_controllers_list);
29762977
// TODO(destogl): do auto-start of broadcasters
29772978
}

‎hardware_interface/src/resource_manager.cpp

Lines changed: 21 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -657,6 +657,7 @@ class ResourceStorage
657657
{
658658
auto interfaces = hardware.export_state_interfaces();
659659
const auto interface_names = add_state_interfaces(interfaces);
660+
hardware_info_map_[hardware.get_name()].state_interfaces = interface_names;
660661

661662
RCLCPP_WARN_EXPRESSION(
662663
get_logger(), interface_names.empty(),
@@ -2009,6 +2010,16 @@ bool ResourceManager::prepare_command_mode_switch(
20092010
component.get_name().c_str());
20102011
continue;
20112012
}
2013+
if (
2014+
!start_interfaces_buffer.empty() &&
2015+
component.get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
2016+
{
2017+
RCLCPP_WARN(
2018+
logger, "Component '%s' is in INACTIVE state, but has start interfaces to switch: \n%s",
2019+
component.get_name().c_str(),
2020+
interfaces_to_string(start_interfaces_buffer, stop_interfaces_buffer).c_str());
2021+
return false;
2022+
}
20122023
if (
20132024
component.get_lifecycle_state().id() ==
20142025
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
@@ -2099,6 +2110,16 @@ bool ResourceManager::perform_command_mode_switch(
20992110
component.get_name().c_str());
21002111
continue;
21012112
}
2113+
if (
2114+
!start_interfaces_buffer.empty() &&
2115+
component.get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
2116+
{
2117+
RCLCPP_WARN(
2118+
logger, "Component '%s' is in INACTIVE state, but has start interfaces to switch: \n%s",
2119+
component.get_name().c_str(),
2120+
interfaces_to_string(start_interfaces_buffer, stop_interfaces_buffer).c_str());
2121+
return false;
2122+
}
21022123
if (
21032124
component.get_lifecycle_state().id() ==
21042125
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||

‎hardware_interface_testing/test/test_resource_manager_prepare_perform_switch.cpp

Lines changed: 164 additions & 29 deletions
Original file line numberDiff line numberDiff line change
@@ -14,6 +14,7 @@
1414

1515
// Authors: Dr. Denis
1616

17+
#include "ros2_control_test_assets/test_hardware_interface_constants.hpp"
1718
#include "test_resource_manager.hpp"
1819

1920
#include <string>
@@ -209,28 +210,32 @@ TEST_F(
209210
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
210211
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0);
211212

212-
// When TestActuatorHardware is INACTIVE expect OK
213-
EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
213+
// When TestActuatorHardware is INACTIVE expect not OK
214+
EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
214215
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
215-
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.001, 1e-7);
216-
EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
216+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.0, 1e-7)
217+
<< "Start interfaces with inactive should result in no change";
218+
EXPECT_FALSE(rm_->perform_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
217219
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
218-
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.101, 1e-7);
220+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.0, 1e-7)
221+
<< "Start interfaces with inactive should result in no change";
219222

220-
EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_actuator, empty_keys));
223+
EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_actuator, empty_keys));
221224
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
222-
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.102, 1e-7);
223-
EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_actuator, empty_keys));
225+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.0, 1e-7)
226+
<< "Start interfaces with inactive should result in no change";
227+
EXPECT_FALSE(rm_->perform_command_mode_switch(legal_keys_actuator, empty_keys));
224228
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
225-
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.202, 1e-7);
229+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.0, 1e-7)
230+
<< "Start interfaces with inactive should result in no change";
226231

227232
EXPECT_TRUE(rm_->prepare_command_mode_switch(empty_keys, legal_keys_actuator));
228233
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
229-
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.203, 1e-7);
234+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.001, 1e-7);
230235
EXPECT_TRUE(rm_->perform_command_mode_switch(empty_keys, legal_keys_actuator))
231-
<< "Inactive is OK";
236+
<< "Inactive with empty start interfaces is OK";
232237
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
233-
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.303, 1e-7);
238+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.101, 1e-7);
234239
};
235240

236241
// System : INACTIVE
@@ -242,54 +247,58 @@ TEST_F(
242247
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, "inactive",
243248
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, "active");
244249

245-
// When TestSystemCommandModes is INACTIVE expect OK
246-
EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_system, legal_keys_system));
247-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 1.0);
250+
// When TestSystemCommandModes is INACTIVE expect not OK
251+
EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_system, legal_keys_system));
252+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0)
253+
<< "Start interfaces with inactive should result in no change";
248254
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0)
249255
<< "System interfaces shouldn't affect the actuator";
250-
EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_system, legal_keys_system));
251-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 101.0);
256+
EXPECT_FALSE(rm_->perform_command_mode_switch(legal_keys_system, legal_keys_system));
257+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0)
258+
<< "Start interfaces with inactive should result in no change";
252259
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0)
253260
<< "System interfaces shouldn't affect the actuator";
254261

255-
EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_system, empty_keys));
256-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 102.0);
262+
EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_system, empty_keys));
263+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0)
264+
<< "Start interfaces with inactive should result in no change";
257265
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0)
258266
<< "System interfaces shouldn't affect the actuator";
259-
EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_system, empty_keys));
260-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 202.0);
267+
EXPECT_FALSE(rm_->perform_command_mode_switch(legal_keys_system, empty_keys));
268+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0)
269+
<< "Start interfaces with inactive should result in no change";
261270
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0)
262271
<< "System interfaces shouldn't affect the actuator";
263272

264273
EXPECT_TRUE(rm_->prepare_command_mode_switch(empty_keys, legal_keys_system));
265-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 203.0);
274+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 1.0);
266275
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0)
267276
<< "System interfaces shouldn't affect the actuator";
268277
EXPECT_FALSE(rm_->perform_command_mode_switch(empty_keys, legal_keys_system));
269-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
278+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 101.0);
270279
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0)
271280
<< "System interfaces shouldn't affect the actuator";
272281

273282
// When TestActuatorHardware is ACTIVE expect OK
274283
EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
275-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
284+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 101.0);
276285
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.001, 1e-7);
277286
EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
278-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
287+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 101.0);
279288
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.101, 1e-7);
280289

281290
EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_actuator, empty_keys));
282-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
291+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 101.0);
283292
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.102, 1e-7);
284293
EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_actuator, empty_keys));
285-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
294+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 101.0);
286295
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.202, 1e-7);
287296

288297
EXPECT_TRUE(rm_->prepare_command_mode_switch(empty_keys, legal_keys_actuator));
289-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
298+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 101.0);
290299
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.203, 1e-7);
291300
EXPECT_TRUE(rm_->perform_command_mode_switch(empty_keys, legal_keys_actuator));
292-
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 303.0);
301+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 101.0);
293302
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.303, 1e-7);
294303
};
295304

@@ -351,6 +360,132 @@ TEST_F(
351360
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.303, 1e-7);
352361
};
353362

363+
// System : UNCONFIGURED
364+
// Actuator: ERROR
365+
TEST_F(
366+
ResourceManagerPreparePerformTest,
367+
when_system_unconfigured_and_actuator_active_and_then_error_expect_actuator_passing)
368+
{
369+
preconfigure_components(
370+
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, "unconfigured",
371+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, "active");
372+
373+
// When TestSystemCommandModes is UNCONFIGURED expect error
374+
EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_system, legal_keys_system));
375+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
376+
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0);
377+
EXPECT_FALSE(rm_->perform_command_mode_switch(legal_keys_system, legal_keys_system))
378+
<< "The system HW component is unconfigured, so the perform should fail!";
379+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
380+
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0);
381+
382+
EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_system, empty_keys));
383+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
384+
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0);
385+
EXPECT_FALSE(rm_->perform_command_mode_switch(legal_keys_system, empty_keys))
386+
<< "The system HW component is unconfigured, so the perform should fail!";
387+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
388+
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0);
389+
390+
EXPECT_FALSE(rm_->prepare_command_mode_switch(empty_keys, legal_keys_system));
391+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
392+
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0);
393+
EXPECT_FALSE(rm_->perform_command_mode_switch(empty_keys, legal_keys_system))
394+
<< "The system HW component is unconfigured, so the perform should fail!";
395+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
396+
EXPECT_EQ(claimed_actuator_position_state_->get_optional().value(), 0.0);
397+
398+
// When TestActuatorHardware is ACTIVE expect OK
399+
EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
400+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
401+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.001, 1e-7);
402+
EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
403+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
404+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.101, 1e-7);
405+
406+
EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_actuator, empty_keys));
407+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
408+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.102, 1e-7);
409+
EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_actuator, empty_keys));
410+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
411+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.202, 1e-7);
412+
413+
EXPECT_TRUE(rm_->prepare_command_mode_switch(empty_keys, legal_keys_actuator));
414+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
415+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.203, 1e-7);
416+
EXPECT_TRUE(rm_->perform_command_mode_switch(empty_keys, legal_keys_actuator));
417+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
418+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.303, 1e-7);
419+
420+
std::unique_ptr<hardware_interface::LoanedCommandInterface> claimed_actuator_velocity_command_ =
421+
std::make_unique<hardware_interface::LoanedCommandInterface>(
422+
rm_->claim_command_interface("joint3/position"));
423+
424+
auto status_map = rm_->get_components_status();
425+
EXPECT_EQ(
426+
status_map["TestSystemCommandModes"].state.id(),
427+
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
428+
EXPECT_EQ(
429+
status_map["TestActuatorHardware"].state.id(),
430+
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
431+
432+
// Now deactivate with write deactivate value
433+
claimed_actuator_velocity_command_->set_value(test_constants::WRITE_DEACTIVATE_VALUE);
434+
rm_->write(node_.now(), rclcpp::Duration(0, 1000000));
435+
436+
status_map = rm_->get_components_status();
437+
EXPECT_EQ(
438+
status_map["TestSystemCommandModes"].state.id(),
439+
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
440+
EXPECT_EQ(
441+
status_map["TestActuatorHardware"].state.id(),
442+
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
443+
444+
// Similar to deactivate callback from write cycle
445+
EXPECT_TRUE(rm_->prepare_command_mode_switch(empty_keys, legal_keys_actuator));
446+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
447+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.304, 1e-7);
448+
EXPECT_TRUE(rm_->perform_command_mode_switch(empty_keys, legal_keys_actuator));
449+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
450+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.404, 1e-7);
451+
452+
// Similar to the proximal activation
453+
EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_actuator, empty_keys));
454+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
455+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.404, 1e-7);
456+
EXPECT_FALSE(rm_->perform_command_mode_switch(legal_keys_actuator, empty_keys))
457+
<< "Start interfaces with inactive should result in no change";
458+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
459+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.404, 1e-7)
460+
<< "Start interfaces with inactive should result in no change";
461+
462+
// Now return ERROR with write fail value
463+
claimed_actuator_velocity_command_->set_value(test_constants::WRITE_FAIL_VALUE);
464+
rm_->write(node_.now(), rclcpp::Duration(0, 1000000));
465+
466+
status_map = rm_->get_components_status();
467+
EXPECT_EQ(
468+
status_map["TestSystemCommandModes"].state.id(),
469+
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
470+
EXPECT_EQ(
471+
status_map["TestActuatorHardware"].state.id(),
472+
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
473+
474+
EXPECT_FALSE(rm_->prepare_command_mode_switch(empty_keys, legal_keys_actuator));
475+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
476+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.404, 1e-7);
477+
EXPECT_FALSE(rm_->perform_command_mode_switch(empty_keys, legal_keys_actuator));
478+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
479+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.404, 1e-7);
480+
481+
EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_actuator, empty_keys));
482+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
483+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.404, 1e-7);
484+
EXPECT_FALSE(rm_->perform_command_mode_switch(legal_keys_actuator, empty_keys));
485+
EXPECT_EQ(claimed_system_acceleration_state_->get_optional().value(), 0.0);
486+
EXPECT_NEAR(claimed_actuator_position_state_->get_optional().value(), 0.404, 1e-7);
487+
};
488+
354489
// System : UNCONFIGURED
355490
// Actuator: FINALIZED
356491
TEST_F(

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