[RQT_JTC] add unit tests for parse_joint_limits#2281
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lakhmanisahil wants to merge 2 commits intoros-controls:masterfrom
Open
[RQT_JTC] add unit tests for parse_joint_limits#2281lakhmanisahil wants to merge 2 commits intoros-controls:masterfrom
lakhmanisahil wants to merge 2 commits intoros-controls:masterfrom
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requested review from
MarqRazz,
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Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #2281 +/- ##
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+ Coverage 84.72% 85.18% +0.46%
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Files 153 154 +1
Lines 15362 15462 +100
Branches 1332 1335 +3
==========================================
+ Hits 13016 13172 +156
+ Misses 1858 1798 -60
- Partials 488 492 +4
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christophfroehlich
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Apr 11, 2026
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christophfroehlich
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This looks very good, I only have some questions..
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| # Joint is not managed by this controller — skip silently | ||
| continue |
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isn't this a behavior change?
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| # Copyright 2024 ros2_control Development Team | |||
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| # Copyright 2024 ros2_control Development Team | |
| # Copyright 2026 ros2_control Development Team |
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| def test_fixed_joint_not_in_result(): | ||
| result = parse_joint_limits(_robot(_fixed("camera_mount")), []) | ||
| assert "camera_mount" not in result | ||
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| def test_urdf_with_only_fixed_joints_returns_empty_dict(): | ||
| result = parse_joint_limits(_robot(_fixed("j1"), _fixed("j2")), []) | ||
| assert result == {} |
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isn't the first test irrelevant if the result == {} acc. to the second test?
| continue | ||
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| if name in dependent_joints: | ||
| continue |
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this line has no coverage acc to codecov, isn't this valid and never reached as per the continue one line above?
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Closes #2253
What this PR does
get_joint_limits()read from a globaldescriptionvariable set only by a ROS topic subscription — impossible to unit test without a live node.This PR extracts all parsing logic into a new pure function
parse_joint_limits(urdf_string, ...)that takes the URDF directly as a string with no ROS dependency.get_joint_limits()becomes a thin wrapper that reads the global and delegates to it. The minidom parsing logic itself is unchanged.Files changed
joint_limits_urdf.pyparse_joint_limits()fromget_joint_limits()test/test_joint_limits_urdf.pytest/__init__.pypackage.xmlpython3-pytesttest dependencyTests (23 total, all passing)
safety_controllersoft limits — narrowed when flag isTrue, ignored whenFalsefree_joints<limit>for a required joint → raises with clear messagelower/upperon revolute → raises (minidom returns"", our code raises)velocity→ raises (same reason — our logic, not minidom's)