Extend odometry tests for steering controllers

steering_controllers_library/CMakeLists.txt

@@ -74,6 +74,20 @@ if(BUILD_TESTING)
   ament_add_gmock(test_steering_odometry test/test_steering_odometry.cpp)
   target_link_libraries(test_steering_odometry steering_controllers_library)
 
+  add_rostest_with_parameters_gmock(
+    test_steering_controllers_open_library test/test_steering_controllers_library.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/steering_controllers_library_open_loop_timeout_params.yaml)
+  target_include_directories(test_steering_controllers_open_library PRIVATE include)
+  target_link_libraries(test_steering_controllers_open_library steering_controllers_library)
+  ament_target_dependencies(
+    test_steering_controllers_open_library
+    controller_interface
+    hardware_interface
+  )
+
+  ament_add_gmock(test_steering_odometry_open_loop_timeout test/test_steering_odometry.cpp)
+  target_link_libraries(test_steering_odometry_open_loop_timeout steering_controllers_library)
+
 endif()
 
 install(

steering_controllers_library/test/steering_controllers_library_open_loop_timeout_params.yaml

@@ -0,0 +1,17 @@
+test_steering_controllers_library_open_loop_timeout:
+  ros__parameters:
+
+    reference_timeout: 0.1
+    front_steering: true
+    open_loop: true
+    velocity_rolling_window_size: 10
+    position_feedback: false
+    use_stamped_vel: true
+    rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint]
+    front_wheels_names: [front_right_steering_joint, front_left_steering_joint]
+
+    wheelbase: 3.24644
+    front_wheel_track: 2.12321
+    rear_wheel_track: 1.76868
+    front_wheels_radius: 0.45
+    rear_wheels_radius: 0.45

steering_controllers_library/test/test_steering_controllers_library.hpp

@@ -127,7 +127,14 @@ class TestableSteeringControllersLibrary
     return controller_interface::CallbackReturn::SUCCESS;
   }
 
-  bool update_odometry(const rclcpp::Duration & /*period*/) { return true; }
+  bool update_odometry(const rclcpp::Duration & period)
+  {
+    if (params_.open_loop)
+    {
+      odometry_.update_open_loop(last_linear_velocity_, last_angular_velocity_, period.seconds());
+    }
+    return true;
+  }
 };
 
 // We are using template class here for easier reuse of Fixture in specializations of controllers