Update test_diff_drive_controller.cpp

Author: christophfroehlich

diff_drive_controller/test/test_diff_drive_controller.cpp

@@ -1221,80 +1221,6 @@ TEST_F(TestDiffDriveController, command_with_zero_timestamp_is_accepted_with_war
   executor.cancel();
 }
 
-<<<<<<< HEAD
-=======
-TEST_F(TestDiffDriveController, odometry_set_service)
-{
-  // 0. Initialize and activate the controller
-  ASSERT_EQ(
-    InitController(
-      left_wheel_names, right_wheel_names,
-      {rclcpp::Parameter("wheel_separation", 0.4), rclcpp::Parameter("wheel_radius", 1.0)}),
-    controller_interface::return_type::OK);
-
-  rclcpp::executors::SingleThreadedExecutor executor;
-  executor.add_node(controller_->get_node()->get_node_base_interface());
-
-  auto state = controller_->configure();
-  assignResourcesPosFeedback();
-
-  ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
-  EXPECT_EQ(0.01, left_wheel_vel_cmd_->get_optional().value());
-  EXPECT_EQ(0.02, right_wheel_vel_cmd_->get_optional().value());
-
-  state = controller_->get_node()->activate();
-  ASSERT_EQ(State::PRIMARY_STATE_ACTIVE, state.id());
-
-  rclcpp::Time test_time(0, 0, RCL_ROS_TIME);
-  rclcpp::Duration period = rclcpp::Duration::from_seconds(0.1);
-
-  // 1. Move the robot first
-  publish(1.0, 0.0);
-  controller_->wait_for_twist(executor);
-  controller_->update(test_time, period);
-  test_time += period;
-
-  // verify initial movement
-  ASSERT_GT(controller_->odometry_.getX(), 0.0);
-
-  // 2. Stop and call odom set service
-  publish(0.0, 0.0);
-  controller_->wait_for_twist(executor);
-  auto set_request = std::make_shared<control_msgs::srv::SetOdometry::Request>();
-  auto set_response = std::make_shared<control_msgs::srv::SetOdometry::Response>();
-  set_request->x = 5.0;
-  set_request->y = -2.0;
-  set_request->yaw = 1.57079632679;  // 90 degrees
-  controller_->set_odometry(nullptr, set_request, set_response);
-  EXPECT_TRUE(set_response->success);
-
-  // run update to process and verify odom values
-  controller_->update(test_time, period);
-  test_time += period;
-  EXPECT_NEAR(controller_->odometry_.getX(), 5.0, 1e-6);
-  EXPECT_NEAR(controller_->odometry_.getY(), -2.0, 1e-6);
-  EXPECT_NEAR(controller_->odometry_.getHeading(), 1.57079632679, 1e-5);  // 90 deg
-
-  // 3. Move again to ensure it still works
-  publish(1.0, 0.0);  // we move in Y now
-  controller_->wait_for_twist(executor);
-
-  // simulate the movement by updating the position feedback
-  position_values_[0] += 0.1;  // left wheel moved
-  position_values_[1] += 0.1;  // right wheel moved
-  controller_->update(test_time, period);
-  test_time += period;
-  EXPECT_GT(controller_->odometry_.getY(), -2.0);
-
-  // 4. Deactivate and cleanup
-  std::this_thread::sleep_for(std::chrono::milliseconds(300));
-  state = controller_->get_node()->deactivate();
-  ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
-  state = controller_->get_node()->cleanup();
-  ASSERT_EQ(state.id(), State::PRIMARY_STATE_UNCONFIGURED);
-  executor.cancel();
-}
-
 TEST_F(TestDiffDriveController, test_open_loop_odometry_with_clamped_input)
 {
   const double max_linear_vel = 0.5;
@@ -1422,7 +1348,6 @@ TEST_F(TestDiffDriveController, test_open_loop_odometry_with_unclamped_input)
   executor.cancel();
 }
 
->>>>>>> 6c1299f (Added test for open-loop odometry with clamped input (#2280))
 int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);