test: verify open loop timeout using internal state to avoid message lag

Signed-off-by: Ishan1923 <ecdev4ishan@gmail.com>

Author: Ishan1923

steering_controllers_library/src/steering_controllers_library.cpp

@@ -657,8 +657,7 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c
         RCLCPP_DEBUG(
           logger, "Unable to retrieve %s for steering wheel %zu",
           !state_interface_value_op.has_value() ? "state interface value"
-                                                : "command interface value",
-          i);
+                                                : "command interface value", i);
       }
       else
       {

steering_controllers_library/test/test_steering_controllers_library.cpp

@@ -268,6 +268,9 @@ TEST_F(SteeringControllersLibraryTest, test_position_feedback_ref_timeout)
   msg.twist.angular.z = TEST_ANGULAR_VELOCITY_Z;
   controller_->input_ref_.set(msg);
 
+  EXPECT_GT(controller_->command_interfaces_[0].get_optional().value(), 0.0);
+  EXPECT_GT(controller_->command_interfaces_[1].get_optional().value(), 0.0);
+
   // age_of_last_command > ref_timeout_
   ASSERT_FALSE(age_of_last_command <= controller_->ref_timeout_);
   ASSERT_EQ(controller_->input_ref_.get().twist.linear.x, TEST_LINEAR_VELOCITY_X);
@@ -363,6 +366,9 @@ TEST_F(SteeringControllersLibraryTest, test_velocity_feedback_ref_timeout)
 
   age_of_last_command = controller_->get_node()->now() - controller_->input_ref_.get().header.stamp;
 
+  EXPECT_GT(controller_->command_interfaces_[0].get_optional().value(), 0.0);
+  EXPECT_GT(controller_->command_interfaces_[1].get_optional().value(), 0.0);
+
   // age_of_last_command > ref_timeout_
   ASSERT_FALSE(age_of_last_command <= controller_->ref_timeout_);
   ASSERT_EQ(controller_->input_ref_.get().twist.linear.x, TEST_LINEAR_VELOCITY_X);
@@ -467,7 +473,6 @@ TEST_F(SteeringControllersLibraryTest, test_open_loop_update_timeout)
 
   EXPECT_DOUBLE_EQ(controller_->last_linear_velocity_, 0.0);
 
-  EXPECT_DOUBLE_EQ(controller_->odom_state_msg_.twist.twist.linear.x, 0.0);
 }
 
 int main(int argc, char ** argv)