Fix the ActivateWithWrongJointsNamesFails test (#1570)

Author: christophfroehlich

effort_controllers/test/test_joint_group_effort_controller.cpp

@@ -85,12 +85,13 @@ TEST_F(JointGroupEffortControllerTest, ActivateWithWrongJointsNamesFails)
   // activate failed, 'joint4' is not a valid joint name for the hardware
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
   ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
+  ASSERT_EQ(controller_->on_cleanup(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   controller_->get_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint2"}});
 
-  // activate failed, 'acceleration' is not a registered interface for `joint1`
+  // activate should succeed now
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
+  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 }
 
 TEST_F(JointGroupEffortControllerTest, CommandSuccessTest)

position_controllers/test/test_joint_group_position_controller.cpp

@@ -85,12 +85,13 @@ TEST_F(JointGroupPositionControllerTest, ActivateWithWrongJointsNamesFails)
   // activate failed, 'joint4' is not a valid joint name for the hardware
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
   ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
+  ASSERT_EQ(controller_->on_cleanup(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   controller_->get_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint2"}});
 
-  // activate failed, 'acceleration' is not a registered interface for `joint1`
+  // activate should succeed now
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
+  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 }
 
 TEST_F(JointGroupPositionControllerTest, CommandSuccessTest)

velocity_controllers/test/test_joint_group_velocity_controller.cpp

@@ -85,12 +85,13 @@ TEST_F(JointGroupVelocityControllerTest, ActivateWithWrongJointsNamesFails)
   // activate failed, 'joint4' is not a valid joint name for the hardware
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
   ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
+  ASSERT_EQ(controller_->on_cleanup(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   controller_->get_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint2"}});
 
-  // activate failed, 'acceleration' is not a registered interface for `joint1`
+  // activate should succeed now
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
-  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
+  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 }
 
 TEST_F(JointGroupVelocityControllerTest, CommandSuccessTest)