chained_filter, diff_drive, effort, forward_command, etc files update with controller_interface migration

Author: Nandostream11

chained_filter_controller/test/test_chained_filter.cpp

@@ -48,7 +48,13 @@ void ChainedFilterTest::SetUpController(
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameters);
 
-  const auto result = controller_->init(node_name, "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = node_name;
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = controller_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;
@@ -61,8 +67,13 @@ TEST_F(ChainedFilterTest, InitReturnsSuccess) { SetUpController(); }
 
 TEST_F(ChainedFilterTest, InitFailureWithNoParams)
 {
-  const auto result = controller_->init(
-    "test_chained_filter_no_params", "", 0, "", controller_->define_custom_node_options());
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "test_chained_filter_no_params";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = controller_->define_custom_node_options();
+  const auto result = controller_->init(params);
   EXPECT_EQ(result, controller_interface::return_type::ERROR);
 }
 

chained_filter_controller/test/test_multiple_chained_filter.cpp

@@ -48,7 +48,13 @@ void MultipleChainedFilterTest::SetUpController(
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameters);
 
-  const auto result = controller_->init(node_name, "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = node_name;
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = controller_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;

diff_drive_controller/test/test_diff_drive_controller.cpp

@@ -206,8 +206,13 @@ class TestDiffDriveController : public ::testing::Test
 
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
-
-    return controller_->init(controller_name, urdf_, 0, ns, node_options);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = urdf_;
+    params.update_rate = 0;
+    params.node_namespace = ns;
+    params.node_options = node_options
+    return controller_->init(params);
   }
 
   std::string controller_name;
@@ -243,8 +248,14 @@ class TestDiffDriveController : public ::testing::Test
 
 TEST_F(TestDiffDriveController, init_fails_without_parameters)
 {
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = controller_name;
+  params.robot_description = urdf_;
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = controller_->define_custom_node_options();
   const auto ret =
-    controller_->init(controller_name, urdf_, 0, "", controller_->define_custom_node_options());
+    controller_->init(params);
   ASSERT_EQ(ret, controller_interface::return_type::ERROR);
 }
 

effort_controllers/test/test_joint_group_effort_controller.cpp

@@ -42,8 +42,13 @@ void JointGroupEffortControllerTest::SetUpController(
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameters);
 
-  const auto result =
-    controller_->init("test_joint_group_effort_controller", "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "test_joint_group_effort_controller";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = controller_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp

@@ -54,8 +54,14 @@ void ForceTorqueSensorBroadcasterTest::TearDown() { fts_broadcaster_.reset(nullp
 
 void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster(std::string node_name)
 {
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = node_name;
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = fts_broadcaster_->define_custom_node_options();
   const auto result =
-    fts_broadcaster_->init(node_name, "", 0, "", fts_broadcaster_->define_custom_node_options());
+    fts_broadcaster_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;

forward_command_controller/test/test_forward_command_controller.cpp

@@ -54,8 +54,13 @@ void ForwardCommandControllerTest::SetUpController(
 {
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameters);
-
-  const auto result = controller_->init("forward_command_controller", "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "forward_command_controller";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = controller_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

forward_command_controller/test/test_multi_interface_forward_command_controller.cpp

@@ -65,8 +65,14 @@ void MultiInterfaceForwardCommandControllerTest::SetUpController(
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameter_overrides);
 
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "multi_interface_forward_command_controller";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
   const auto result =
-    controller_->init("multi_interface_forward_command_controller", "", 0, "", node_options);
+    controller_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;