test yaml file added

Author: sachinkum0009

io_gripper_controller/CMakeLists.txt

@@ -64,6 +64,7 @@ install(
 )
 
 if(BUILD_TESTING)
+  add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
 
   ament_add_gmock(test_load_io_gripper_controller test/test_load_io_gripper_controller.cpp)
   target_include_directories(test_load_io_gripper_controller PRIVATE include)

io_gripper_controller/test/test_io_gripper_controller.yaml

@@ -0,0 +1,67 @@
+test_io_gripper_controller:
+  ros__parameters:
+    use_action: true
+    timeout: 5.0
+    open_close_joints: [gripper_clamp_jaw]
+
+    open:
+      joint_states: [0.0]
+      set_before_command:
+        high: [Release_Break_valve]
+        low: [Release_Something] # comment out otherwise throws an error
+      command:
+        high: [Open_valve]
+        low: [Close_valve]
+      state:
+        high: [Opened_signal]
+        low: [Closed_signal]
+      set_after_command:
+        high: [Release_Something]
+        low: [Release_Break_valve]
+
+    possible_closed_states: ['empty_close', 'full_close']
+
+    close:
+      set_before_command:
+        high: [Release_Break_valve]
+        low: [Release_Something]
+      command:
+        high: [Close_valve]
+        low: [Open_valve]
+      state:
+        empty_close:
+          joint_states: [0.16]
+          high: [Closed_signal]
+          low: [Part_Grasped_signal]
+          set_after_command_high: [a]
+          set_after_command_low: [Release_Break_valve]
+        full_close:
+          joint_states: [0.08]
+          high: [Part_Grasped_signal]
+          low: [Closed_signal]
+          set_after_command_high: [Release_Something]
+          set_after_command_low: [Release_Break_valve]
+
+    configurations: ["narrow_objects", "wide_objects"]
+    configuration_joints: [gripper_gripper_distance_joint]
+
+    configuration_setup:
+      stichmass_125:
+        joint_states: [0.1]
+        command_high: [Narrow_Configuration_Cmd]
+        command_low: [Wide_Configuration_Cmd]
+        state_high: [Narrow_Configuraiton_Signal]
+        state_low: [Wide_Configuration_Signal]
+      stichmass_250:
+        joint_states: [0.2]
+        command_high: [Wide_Configuration_Cmd]
+        command_low: [Narrow_Configuration_Cmd]
+        state_high: [Wide_Configuration_Signal]
+        state_low: [Narrow_Configuraiton_Signal]
+
+    gripper_specific_sensors: ["part_sensor_top", "part_sensor"]
+    sensors_interfaces:
+      hohenabfrage:
+        input: "Part_Sensor_Top_signal"
+      bauteilabfrage:
+        input: "Part_Grasped_signal"