HardwareInterfaceResources(
hardware_interface='hardware_interface::FooInterface',
resources=['one', 'two', 'three'])
]),
CtrlState(
name='bar_controller',
state='running',
type='bar_base/bar',
claimed_resources=[
HardwareInterfaceResources(
hardware_interface='hardware_interface::BarInterface',
resources=['four'])
])
]
resp = ListControllersResponse()
resp.controller = ctrl_list
cm_default.list_ctrl_resp = resp
# Partial controller manager ROS API: missing service
cm_incomplete = ControllerManagerDummy('/incomplete')
cm_incomplete.reload_libs.shutdown()
# Partial controller manager ROS API: service with wrong type
cm_bad_type = ControllerManagerDummy('/bad_type')
cm_bad_type.unload_ctrl.shutdown()
cm_bad_type.unload_ctrl = rospy.Service(
'/bad_type/unload_controller',
LoadController, # NOTE: Wrong type
cm_bad_type._unload_ctrl_cb)
claimed_resources=[
HardwareInterfaceResources(
hardware_interface='hardware_interface::FooInterface',
resources=['one', 'two', 'three'])
]),
CtrlState(name='bar_controller',
state='running',
type='bar_base/bar',
claimed_resources=[
HardwareInterfaceResources(
hardware_interface='hardware_interface::BarInterface',
resources=['four'])
])
]
resp = ListControllersResponse()
resp.controller = ctrl_list
cm_default.list_ctrl_resp = resp
# Partial controller manager ROS API: missing service
cm_incomplete = ControllerManagerDummy('/incomplete')
cm_incomplete.reload_libs.shutdown()
# Partial controller manager ROS API: service with wrong type
cm_bad_type = ControllerManagerDummy('/bad_type')
cm_bad_type.unload_ctrl.shutdown()
cm_bad_type.unload_ctrl = rospy.Service('/bad_type/unload_controller',
LoadController, # NOTE: Wrong type
cm_bad_type._unload_ctrl_cb)
rospy.spin()
cm_foo2 = ControllerManagerDummy('/foo/robot/controller_manager2')
cm_default = ControllerManagerDummy()
c_foo = ControllerState()
c_foo.name = 'foo_controller'
c_foo.type = 'foo_base/foo'
c_foo.state = 'running'
c_foo.hardware_interface='hardware_interface::FooInterface'
c_bar = ControllerState()
c_bar.name = 'bar_controller'
c_bar.type = 'bar_base/bar'
c_bar.state = 'stopped'
c_bar.hardware_interface='hardware_interface::BarInterface'
resp = ListControllersResponse()
resp.controller = [c_foo, c_bar]
cm_default.list_ctrl_resp = resp
# Partial controller manager ROS API: missing service
cm_incomplete = ControllerManagerDummy('/incomplete')
cm_incomplete.reload_libs.shutdown()
# Partial controller manager ROS API: service with wrong type
cm_bad_type = ControllerManagerDummy('/bad_type')
cm_bad_type.unload_ctrl.shutdown()
cm_bad_type.unload_ctrl = rospy.Service('/bad_type/unload_controller',
LoadController, # NOTE: Wrong type
cm_bad_type._unload_ctrl_cb)
rospy.spin()
