added a test controller that fails at activation

controller_manager/CMakeLists.txt

@@ -171,6 +171,20 @@ if(BUILD_TESTING)
     DESTINATION lib
   )
 
+  add_library(test_controller_failed_activate SHARED
+  test/test_controller_failed_activate/test_controller_failed_activate.cpp
+  )
+  target_link_libraries(test_controller_failed_activate PUBLIC
+    controller_manager
+  )
+  target_compile_definitions(test_controller_failed_activate PRIVATE "CONTROLLER_MANAGER_BUILDING_DLL")
+  pluginlib_export_plugin_description_file(
+    controller_interface test/test_controller_failed_activate/test_controller_failed_activate.xml)
+  install(
+    TARGETS test_controller_failed_activate
+    DESTINATION lib
+  )
+
   ament_add_gmock(test_release_interfaces
     test/test_release_interfaces.cpp
     APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}_$<CONFIG>

controller_manager/test/test_controller_failed_activate/test_controller_failed_activate.cpp

@@ -0,0 +1,66 @@
+// Copyright 2021 Department of Engineering Cybernetics, NTNU.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "test_controller_failed_activate.hpp"
+
+#include <memory>
+#include <string>
+
+#include "lifecycle_msgs/msg/transition.hpp"
+
+namespace test_controller_failed_activate
+{
+TestControllerFailedActivate::TestControllerFailedActivate()
+: controller_interface::ControllerInterface()
+{
+}
+
+rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
+TestControllerFailedActivate::on_init()
+{
+  return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
+}
+
+controller_interface::return_type TestControllerFailedActivate::update(
+  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+{
+  return controller_interface::return_type::OK;
+}
+
+rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
+TestControllerFailedActivate::on_configure(const rclcpp_lifecycle::State & /*previous_state&*/)
+{
+  return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
+}
+
+rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
+TestControllerFailedActivate::on_activate(const rclcpp_lifecycle::State & /*previous_state&*/)
+{
+  // Simply simulate a controller that can not be activated
+  return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::FAILURE;
+}
+
+rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
+TestControllerFailedActivate::on_cleanup(const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
+}
+
+}  // namespace test_controller_failed_activate
+
+#include "pluginlib/class_list_macros.hpp"
+
+PLUGINLIB_EXPORT_CLASS(
+  test_controller_failed_activate::TestControllerFailedActivate,
+  controller_interface::ControllerInterface)

controller_manager/test/test_controller_failed_activate/test_controller_failed_activate.hpp

@@ -0,0 +1,75 @@
+// Copyright 2020 Department of Engineering Cybernetics, NTNU
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TEST_CONTROLLER_WITH_INTERFACES__TEST_CONTROLLER_WITH_INTERFACES_HPP_
+#define TEST_CONTROLLER_WITH_INTERFACES__TEST_CONTROLLER_WITH_INTERFACES_HPP_
+
+#include <memory>
+#include <string>
+
+#include "controller_interface/visibility_control.h"
+#include "controller_manager/controller_manager.hpp"
+
+namespace test_controller_failed_activate
+{
+// Corresponds to the name listed within the pluginglib xml
+constexpr char TEST_CONTROLLER_WITH_INTERFACES_CLASS_NAME[] =
+  "controller_manager/test_controller_failed_activate";
+// Corresponds to the command interface to claim
+constexpr char TEST_CONTROLLER_COMMAND_INTERFACE[] = "joint2/velocity";
+class TestControllerFailedActivate : public controller_interface::ControllerInterface
+{
+public:
+  CONTROLLER_MANAGER_PUBLIC
+  TestControllerFailedActivate();
+
+  CONTROLLER_MANAGER_PUBLIC
+  virtual ~TestControllerFailedActivate() = default;
+
+  controller_interface::InterfaceConfiguration command_interface_configuration() const override
+  {
+    return controller_interface::InterfaceConfiguration{
+      controller_interface::interface_configuration_type::INDIVIDUAL,
+      {TEST_CONTROLLER_COMMAND_INTERFACE}};
+  }
+
+  controller_interface::InterfaceConfiguration state_interface_configuration() const override
+  {
+    return controller_interface::InterfaceConfiguration{
+      controller_interface::interface_configuration_type::NONE};
+  }
+
+  CONTROLLER_MANAGER_PUBLIC
+  controller_interface::return_type update(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  CONTROLLER_MANAGER_PUBLIC
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_init() override;
+
+  CONTROLLER_MANAGER_PUBLIC
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  CONTROLLER_MANAGER_PUBLIC
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  CONTROLLER_MANAGER_PUBLIC
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(
+    const rclcpp_lifecycle::State & previous_state) override;
+};
+
+}  // namespace test_controller_failed_activate
+
+#endif  // TEST_CONTROLLER_WITH_INTERFACES__TEST_CONTROLLER_WITH_INTERFACES_HPP_

controller_manager/test/test_controller_failed_activate/test_controller_failed_activate.xml

@@ -0,0 +1,9 @@
+<library path="test_controller_failed_activate">
+
+  <class name="controller_manager/test_controller_failed_activate" type="test_controller_failed_activate::TestControllerFailedActivate" base_class_type="controller_interface::ControllerInterface">
+    <description>
+      Controller used for testing
+    </description>
+  </class>
+
+</library>