Supress deprecated RM API warnings in the tests (#2428)

Author: saikishor

hardware_interface_testing/test/test_resource_manager.cpp

@@ -99,14 +99,26 @@ TEST_F(ResourceManagerTest, initialization_with_urdf)
 TEST_F(ResourceManagerTest, post_initialization_with_urdf)
 {
   TestableResourceManager rm(node_);
+// TODO(saikishor) : remove after the cleanup of deprecated API
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   ASSERT_NO_THROW(rm.load_and_initialize_components(ros2_control_test_assets::minimal_robot_urdf));
+#pragma GCC diagnostic pop
+  hardware_interface::ResourceManagerParams rm_params;
+  rm_params.robot_description = ros2_control_test_assets::minimal_robot_urdf;
+  rm_params.update_rate = 100;
+  ASSERT_NO_THROW(rm.load_and_initialize_components(rm_params));
 }
 
 void test_load_and_initialized_components_failure(const std::string & urdf)
 {
   rclcpp::Node node = rclcpp::Node("TestableResourceManager");
   TestableResourceManager rm(node);
+// TODO(saikishor) : remove after the cleanup of deprecated API
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   ASSERT_FALSE(rm.load_and_initialize_components(urdf));
+#pragma GCC diagnostic pop
 
   ASSERT_FALSE(rm.are_components_initialized());
 
@@ -269,7 +281,11 @@ TEST_F(ResourceManagerTest, can_load_and_initialize_components_later)
 {
   TestableResourceManager rm(node_);
   ASSERT_FALSE(rm.are_components_initialized());
+// TODO(saikishor) : remove after the cleanup of deprecated API
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   rm.load_and_initialize_components(ros2_control_test_assets::minimal_robot_urdf);
+#pragma GCC diagnostic pop
   ASSERT_TRUE(rm.are_components_initialized());
 }
 

hardware_interface_testing/test/test_resource_manager_prepare_perform_switch.cpp

@@ -430,7 +430,8 @@ TEST_F(
     lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
 
   // Now deactivate with write deactivate value
-  claimed_actuator_velocity_command_->set_value(test_constants::WRITE_DEACTIVATE_VALUE);
+  EXPECT_TRUE(
+    claimed_actuator_velocity_command_->set_value(test_constants::WRITE_DEACTIVATE_VALUE));
   rm_->write(node_.now(), rclcpp::Duration(0, 1000000));
 
   status_map = rm_->get_components_status();
@@ -460,7 +461,7 @@ TEST_F(
     << "Start interfaces with inactive should result in no change";
 
   // Now return ERROR with write fail value
-  claimed_actuator_velocity_command_->set_value(test_constants::WRITE_FAIL_VALUE);
+  EXPECT_TRUE(claimed_actuator_velocity_command_->set_value(test_constants::WRITE_FAIL_VALUE));
   rm_->write(node_.now(), rclcpp::Duration(0, 1000000));
 
   status_map = rm_->get_components_status();