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Fix testcase for invalid value at node initialization #615

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Fix testcase for invalid value at node initialization #615

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13 changes: 5 additions & 8 deletions control_toolbox/test/control_filters/test_low_pass_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ TEST_F(FilterTest, TestLowPassWrenchFilterMissingParameter)
node_->get_node_parameters_interface()));
}

TEST_F(FilterTest, TestLowPassWrenchFilterInvalidThenFixedParameter)
TEST_F(FilterTest, TestLowPassWrenchFilterInvalidParameter)
{
std::shared_ptr<filters::FilterBase<geometry_msgs::msg::WrenchStamped>> filter_ =
std::make_shared<control_filters::LowPassFilter<geometry_msgs::msg::WrenchStamped>>();
Expand All @@ -60,13 +60,10 @@ TEST_F(FilterTest, TestLowPassWrenchFilterInvalidThenFixedParameter)
ASSERT_FALSE(filter_->configure(
"", "TestLowPassFilter", node_->get_node_logging_interface(),
node_->get_node_parameters_interface()));

// fix the param
node_->set_parameter(rclcpp::Parameter("sampling_frequency", 1000.0));
// should allow configuration and pass second call to unconfigured filter
ASSERT_TRUE(filter_->configure(
"", "TestLowPassFilter", node_->get_node_logging_interface(),
node_->get_node_parameters_interface()));
// remains now undeclared, so should throw if we try to set it
ASSERT_THROW(
node_->set_parameter(rclcpp::Parameter("sampling_frequency", 1000.0)),
rclcpp::exceptions::ParameterNotDeclaredException);
}

TEST_F(FilterTest, TestLowPassFilterThrowsUnconfigured)
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2 changes: 1 addition & 1 deletion control_toolbox/test/control_filters/test_low_pass_filter_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ TestLowPassWrenchFilterMissingParameter:
damping_frequency: 20.5
damping_intensity: 1.25

TestLowPassWrenchFilterInvalidThenFixedParameter:
TestLowPassWrenchFilterInvalidParameter:
ros__parameters:
sampling_frequency: 0.0
damping_frequency: 20.5
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