From 9c476cdb5b7f93c7228f4abf24f341f944ad0443 Mon Sep 17 00:00:00 2001 From: "rafal.gorecki" Date: Thu, 9 Jan 2025 14:53:04 +0100 Subject: [PATCH] Build hardware --- .../CMakeLists.txt | 478 +++++++++--------- husarion_ugv_hardware_interfaces/package.xml | 1 + .../test_phidget_imu_sensor.cpp | 3 +- .../test/utils/system_test_utils.hpp | 2 +- 4 files changed, 246 insertions(+), 238 deletions(-) diff --git a/husarion_ugv_hardware_interfaces/CMakeLists.txt b/husarion_ugv_hardware_interfaces/CMakeLists.txt index cb42e3ab0..7f1e2dfc5 100644 --- a/husarion_ugv_hardware_interfaces/CMakeLists.txt +++ b/husarion_ugv_hardware_interfaces/CMakeLists.txt @@ -17,6 +17,7 @@ endif() set(PACKAGE_DEPENDENCIES ament_cmake + ament_index_cpp controller_interface diagnostic_updater generate_parameter_library @@ -99,7 +100,7 @@ if(BUILD_TESTING) ament_add_gtest(${PROJECT_NAME}_test_phidget_imu_sensor test/phidget_imu_sensor/test_phidget_imu_sensor.cpp) ament_target_dependencies( - ${PROJECT_NAME}_test_phidget_imu_sensor hardware_interface rclcpp + ${PROJECT_NAME}_test_phidget_imu_sensor ament_index_cpp hardware_interface rclcpp husarion_ugv_utils husarion_ugv_msgs phidgets_api) target_link_libraries(${PROJECT_NAME}_test_phidget_imu_sensor ${PROJECT_NAME} phidgets_spatial_parameters) @@ -109,241 +110,246 @@ if(BUILD_TESTING) test/unit/robot_system/robot_driver/test_roboteq_error_filter.cpp src/robot_system/robot_driver/roboteq_error_filter.cpp) - ament_add_gtest( - ${PROJECT_NAME}_test_roboteq_data_converters - test/unit/robot_system/robot_driver/test_roboteq_data_converters.cpp - src/robot_system/robot_driver/roboteq_data_converters.cpp src/utils.cpp) - target_include_directories( - ${PROJECT_NAME}_test_roboteq_data_converters - PUBLIC $ - $) - ament_target_dependencies(${PROJECT_NAME}_test_roboteq_data_converters - husarion_ugv_msgs husarion_ugv_utils) - target_link_libraries(${PROJECT_NAME}_test_roboteq_data_converters - PkgConfig::LIBLELY_COAPP) - - ament_add_gtest( - ${PROJECT_NAME}_test_canopen_manager - test/unit/robot_system/robot_driver/test_canopen_manager.cpp - src/robot_system/robot_driver/canopen_manager.cpp src/utils.cpp) - target_include_directories( - ${PROJECT_NAME}_test_canopen_manager - PUBLIC $ - $) - ament_target_dependencies(${PROJECT_NAME}_test_canopen_manager rclcpp - husarion_ugv_msgs husarion_ugv_utils) - target_link_libraries(${PROJECT_NAME}_test_canopen_manager - PkgConfig::LIBLELY_COAPP) - - ament_add_gtest( - ${PROJECT_NAME}_test_roboteq_driver - test/unit/robot_system/robot_driver/test_roboteq_driver.cpp - src/robot_system/robot_driver/canopen_manager.cpp - src/robot_system/robot_driver/roboteq_driver.cpp - src/utils.cpp) - target_include_directories( - ${PROJECT_NAME}_test_roboteq_driver - PUBLIC $ - $) - ament_target_dependencies(${PROJECT_NAME}_test_roboteq_driver rclcpp - husarion_ugv_msgs husarion_ugv_utils) - target_link_libraries(${PROJECT_NAME}_test_roboteq_driver - PkgConfig::LIBLELY_COAPP) - - ament_add_gmock( - ${PROJECT_NAME}_test_roboteq_robot_driver - test/unit/robot_system/robot_driver/test_roboteq_robot_driver.cpp - src/robot_system/robot_driver/canopen_manager.cpp - src/robot_system/robot_driver/roboteq_driver.cpp - src/robot_system/robot_driver/roboteq_data_converters.cpp - src/robot_system/robot_driver/roboteq_robot_driver.cpp - src/utils.cpp) - target_include_directories( - ${PROJECT_NAME}_test_roboteq_robot_driver - PUBLIC $ - $) - ament_target_dependencies(${PROJECT_NAME}_test_roboteq_robot_driver rclcpp - husarion_ugv_msgs husarion_ugv_utils) - target_link_libraries(${PROJECT_NAME}_test_roboteq_robot_driver - PkgConfig::LIBLELY_COAPP) - - ament_add_gmock( - ${PROJECT_NAME}_test_lynx_robot_driver - test/unit/robot_system/robot_driver/test_lynx_robot_driver.cpp - src/robot_system/robot_driver/canopen_manager.cpp - src/robot_system/robot_driver/roboteq_driver.cpp - src/robot_system/robot_driver/roboteq_data_converters.cpp - src/robot_system/robot_driver/roboteq_robot_driver.cpp - src/robot_system/robot_driver/lynx_robot_driver.cpp - src/utils.cpp) - target_include_directories( - ${PROJECT_NAME}_test_lynx_robot_driver - PUBLIC $ - $) - ament_target_dependencies(${PROJECT_NAME}_test_lynx_robot_driver rclcpp - husarion_ugv_msgs husarion_ugv_utils) - target_link_libraries(${PROJECT_NAME}_test_lynx_robot_driver - PkgConfig::LIBLELY_COAPP) - - ament_add_gmock( - ${PROJECT_NAME}_test_panther_robot_driver - test/unit/robot_system/robot_driver/test_panther_robot_driver.cpp - src/robot_system/robot_driver/canopen_manager.cpp - src/robot_system/robot_driver/roboteq_driver.cpp - src/robot_system/robot_driver/roboteq_data_converters.cpp - src/robot_system/robot_driver/roboteq_robot_driver.cpp - src/robot_system/robot_driver/panther_robot_driver.cpp - src/utils.cpp) - target_include_directories( - ${PROJECT_NAME}_test_panther_robot_driver - PUBLIC $ - $) - ament_target_dependencies(${PROJECT_NAME}_test_panther_robot_driver rclcpp - husarion_ugv_msgs husarion_ugv_utils) - target_link_libraries(${PROJECT_NAME}_test_panther_robot_driver - PkgConfig::LIBLELY_COAPP) - - ament_add_gmock( - ${PROJECT_NAME}_test_gpiod_controller - test/robot_system/gpio/test_gpio_controller.cpp - src/robot_system/gpio/gpio_controller.cpp - src/robot_system/gpio/gpio_driver.cpp) - ament_target_dependencies(${PROJECT_NAME}_test_gpiod_controller - husarion_ugv_utils) - target_link_libraries(${PROJECT_NAME}_test_gpiod_controller - PkgConfig::LIBGPIOD) - - ament_add_gtest( - ${PROJECT_NAME}_test_system_ros_interface - test/unit/robot_system/test_system_ros_interface.cpp - src/robot_system/system_ros_interface.cpp - src/robot_system/robot_driver/roboteq_data_converters.cpp - src/robot_system/gpio/gpio_controller.cpp - src/utils.cpp) - target_include_directories( - ${PROJECT_NAME}_test_system_ros_interface - PUBLIC $ - $) - ament_target_dependencies( - ${PROJECT_NAME}_test_system_ros_interface - diagnostic_updater - rclcpp - husarion_ugv_msgs - husarion_ugv_utils - realtime_tools - std_srvs) - target_link_libraries(${PROJECT_NAME}_test_system_ros_interface - PkgConfig::LIBLELY_COAPP PkgConfig::LIBGPIOD) - - ament_add_gmock( - ${PROJECT_NAME}_test_ugv_system - test/unit/robot_system/test_ugv_system.cpp - src/robot_system/gpio/gpio_controller.cpp - src/robot_system/gpio/gpio_driver.cpp - src/robot_system/system_e_stop.cpp - src/robot_system/robot_driver/roboteq_data_converters.cpp - src/robot_system/robot_driver/roboteq_error_filter.cpp - src/robot_system/system_ros_interface.cpp - src/robot_system/ugv_system.cpp - src/utils.cpp) - set_tests_properties(${PROJECT_NAME}_test_ugv_system PROPERTIES TIMEOUT 120) - target_include_directories( - ${PROJECT_NAME}_test_ugv_system - PUBLIC $ - $) - ament_target_dependencies( - ${PROJECT_NAME}_test_ugv_system - diagnostic_updater - hardware_interface - rclcpp - husarion_ugv_msgs - husarion_ugv_utils - std_msgs - std_srvs) - target_link_libraries(${PROJECT_NAME}_test_ugv_system - PkgConfig::LIBLELY_COAPP PkgConfig::LIBGPIOD) - - ament_add_gmock( - ${PROJECT_NAME}_test_lynx_system - test/unit/robot_system/test_lynx_system.cpp - src/robot_system/gpio/gpio_controller.cpp - src/robot_system/gpio/gpio_driver.cpp - src/robot_system/system_e_stop.cpp - src/robot_system/robot_driver/canopen_manager.cpp - src/robot_system/robot_driver/roboteq_robot_driver.cpp - src/robot_system/robot_driver/roboteq_data_converters.cpp - src/robot_system/robot_driver/roboteq_driver.cpp - src/robot_system/robot_driver/roboteq_error_filter.cpp - src/robot_system/robot_driver/lynx_robot_driver.cpp - src/robot_system/system_ros_interface.cpp - src/robot_system/lynx_system.cpp - src/robot_system/ugv_system.cpp - src/utils.cpp) - set_tests_properties(${PROJECT_NAME}_test_lynx_system PROPERTIES TIMEOUT 120) - target_include_directories( - ${PROJECT_NAME}_test_lynx_system - PUBLIC $ - $) - ament_target_dependencies( - ${PROJECT_NAME}_test_lynx_system - diagnostic_updater - hardware_interface - rclcpp - husarion_ugv_msgs - husarion_ugv_utils - std_msgs - std_srvs) - target_link_libraries(${PROJECT_NAME}_test_lynx_system - PkgConfig::LIBLELY_COAPP PkgConfig::LIBGPIOD) - - ament_add_gmock( - ${PROJECT_NAME}_test_panther_system - test/unit/robot_system/test_panther_system.cpp - src/robot_system/gpio/gpio_controller.cpp - src/robot_system/gpio/gpio_driver.cpp - src/robot_system/system_e_stop.cpp - src/robot_system/robot_driver/canopen_manager.cpp - src/robot_system/robot_driver/roboteq_robot_driver.cpp - src/robot_system/robot_driver/roboteq_data_converters.cpp - src/robot_system/robot_driver/roboteq_driver.cpp - src/robot_system/robot_driver/roboteq_error_filter.cpp - src/robot_system/robot_driver/panther_robot_driver.cpp - src/robot_system/system_ros_interface.cpp - src/robot_system/panther_system.cpp - src/robot_system/ugv_system.cpp - src/utils.cpp) - set_tests_properties(${PROJECT_NAME}_test_panther_system PROPERTIES TIMEOUT - 120) - target_include_directories( - ${PROJECT_NAME}_test_panther_system - PUBLIC $ - $) - ament_target_dependencies( - ${PROJECT_NAME}_test_panther_system - diagnostic_updater - hardware_interface - rclcpp - husarion_ugv_msgs - husarion_ugv_utils - std_msgs - std_srvs) - target_link_libraries(${PROJECT_NAME}_test_panther_system - PkgConfig::LIBLELY_COAPP PkgConfig::LIBGPIOD) - - # Integration tests option(TEST_INTEGRATION "Run integration tests" OFF) - if(TEST_INTEGRATION) # Hardware integration - ament_add_gtest(${PROJECT_NAME}_test_gpiod_driver - test/robot_system/gpio/test_gpio_driver.cpp) - ament_target_dependencies(${PROJECT_NAME}_test_gpiod_driver + ament_add_gtest( + ${PROJECT_NAME}_test_roboteq_data_converters + test/unit/robot_system/robot_driver/test_roboteq_data_converters.cpp + src/robot_system/robot_driver/roboteq_data_converters.cpp src/utils.cpp) + target_include_directories( + ${PROJECT_NAME}_test_roboteq_data_converters + PUBLIC $ + $) + ament_target_dependencies(${PROJECT_NAME}_test_roboteq_data_converters ament_index_cpp + husarion_ugv_msgs husarion_ugv_utils) + target_link_libraries(${PROJECT_NAME}_test_roboteq_data_converters + PkgConfig::LIBLELY_COAPP) + + ament_add_gtest( + ${PROJECT_NAME}_test_canopen_manager + test/unit/robot_system/robot_driver/test_canopen_manager.cpp + src/robot_system/robot_driver/canopen_manager.cpp src/utils.cpp) + target_include_directories( + ${PROJECT_NAME}_test_canopen_manager + PUBLIC $ + $) + ament_target_dependencies(${PROJECT_NAME}_test_canopen_manager rclcpp ament_index_cpp + husarion_ugv_msgs husarion_ugv_utils) + target_link_libraries(${PROJECT_NAME}_test_canopen_manager + PkgConfig::LIBLELY_COAPP) + + ament_add_gtest( + ${PROJECT_NAME}_test_roboteq_driver + test/unit/robot_system/robot_driver/test_roboteq_driver.cpp + src/robot_system/robot_driver/canopen_manager.cpp + src/robot_system/robot_driver/roboteq_driver.cpp + src/utils.cpp) + target_include_directories( + ${PROJECT_NAME}_test_roboteq_driver + PUBLIC $ + $) + ament_target_dependencies(${PROJECT_NAME}_test_roboteq_driver rclcpp ament_index_cpp + husarion_ugv_msgs husarion_ugv_utils) + target_link_libraries(${PROJECT_NAME}_test_roboteq_driver + PkgConfig::LIBLELY_COAPP) + + ament_add_gmock( + ${PROJECT_NAME}_test_roboteq_robot_driver + test/unit/robot_system/robot_driver/test_roboteq_robot_driver.cpp + src/robot_system/robot_driver/canopen_manager.cpp + src/robot_system/robot_driver/roboteq_driver.cpp + src/robot_system/robot_driver/roboteq_data_converters.cpp + src/robot_system/robot_driver/roboteq_robot_driver.cpp + src/utils.cpp) + target_include_directories( + ${PROJECT_NAME}_test_roboteq_robot_driver + PUBLIC $ + $) + ament_target_dependencies(${PROJECT_NAME}_test_roboteq_robot_driver rclcpp ament_index_cpp + husarion_ugv_msgs husarion_ugv_utils) + target_link_libraries(${PROJECT_NAME}_test_roboteq_robot_driver + PkgConfig::LIBLELY_COAPP) + + ament_add_gmock( + ${PROJECT_NAME}_test_lynx_robot_driver + test/unit/robot_system/robot_driver/test_lynx_robot_driver.cpp + src/robot_system/robot_driver/canopen_manager.cpp + src/robot_system/robot_driver/roboteq_driver.cpp + src/robot_system/robot_driver/roboteq_data_converters.cpp + src/robot_system/robot_driver/roboteq_robot_driver.cpp + src/robot_system/robot_driver/lynx_robot_driver.cpp + src/utils.cpp) + target_include_directories( + ${PROJECT_NAME}_test_lynx_robot_driver + PUBLIC $ + $) + ament_target_dependencies(${PROJECT_NAME}_test_lynx_robot_driver rclcpp ament_index_cpp + husarion_ugv_msgs husarion_ugv_utils) + target_link_libraries(${PROJECT_NAME}_test_lynx_robot_driver + PkgConfig::LIBLELY_COAPP) + + ament_add_gmock( + ${PROJECT_NAME}_test_panther_robot_driver + test/unit/robot_system/robot_driver/test_panther_robot_driver.cpp + src/robot_system/robot_driver/canopen_manager.cpp + src/robot_system/robot_driver/roboteq_driver.cpp + src/robot_system/robot_driver/roboteq_data_converters.cpp + src/robot_system/robot_driver/roboteq_robot_driver.cpp + src/robot_system/robot_driver/panther_robot_driver.cpp + src/utils.cpp) + target_include_directories( + ${PROJECT_NAME}_test_panther_robot_driver + PUBLIC $ + $) + ament_target_dependencies(${PROJECT_NAME}_test_panther_robot_driver rclcpp ament_index_cpp + husarion_ugv_msgs husarion_ugv_utils) + target_link_libraries(${PROJECT_NAME}_test_panther_robot_driver + PkgConfig::LIBLELY_COAPP) + + ament_add_gmock( + ${PROJECT_NAME}_test_gpiod_controller + test/robot_system/gpio/test_gpio_controller.cpp + src/robot_system/gpio/gpio_controller.cpp + src/robot_system/gpio/gpio_driver.cpp) + ament_target_dependencies(${PROJECT_NAME}_test_gpiod_controller ament_index_cpp husarion_ugv_utils) - target_link_libraries(${PROJECT_NAME}_test_gpiod_driver ${PROJECT_NAME} + target_link_libraries(${PROJECT_NAME}_test_gpiod_controller PkgConfig::LIBGPIOD) + + ament_add_gtest( + ${PROJECT_NAME}_test_system_ros_interface + test/unit/robot_system/test_system_ros_interface.cpp + src/robot_system/system_ros_interface.cpp + src/robot_system/robot_driver/roboteq_data_converters.cpp + src/robot_system/gpio/gpio_controller.cpp + src/utils.cpp) + target_include_directories( + ${PROJECT_NAME}_test_system_ros_interface + PUBLIC $ + $) + ament_target_dependencies( + ${PROJECT_NAME}_test_system_ros_interface + ament_index_cpp + diagnostic_updater + rclcpp + husarion_ugv_msgs + husarion_ugv_utils + realtime_tools + std_srvs) + target_link_libraries(${PROJECT_NAME}_test_system_ros_interface + PkgConfig::LIBLELY_COAPP PkgConfig::LIBGPIOD) + + ament_add_gmock( + ${PROJECT_NAME}_test_ugv_system + test/unit/robot_system/test_ugv_system.cpp + src/robot_system/gpio/gpio_controller.cpp + src/robot_system/gpio/gpio_driver.cpp + src/robot_system/system_e_stop.cpp + src/robot_system/robot_driver/roboteq_data_converters.cpp + src/robot_system/robot_driver/roboteq_error_filter.cpp + src/robot_system/system_ros_interface.cpp + src/robot_system/ugv_system.cpp + src/utils.cpp) + set_tests_properties(${PROJECT_NAME}_test_ugv_system PROPERTIES TIMEOUT 120) + target_include_directories( + ${PROJECT_NAME}_test_ugv_system + PUBLIC $ + $) + ament_target_dependencies( + ${PROJECT_NAME}_test_ugv_system + ament_index_cpp + diagnostic_updater + hardware_interface + rclcpp + husarion_ugv_msgs + husarion_ugv_utils + std_msgs + std_srvs) + target_link_libraries(${PROJECT_NAME}_test_ugv_system + PkgConfig::LIBLELY_COAPP PkgConfig::LIBGPIOD) + + ament_add_gmock( + ${PROJECT_NAME}_test_lynx_system + test/unit/robot_system/test_lynx_system.cpp + src/robot_system/gpio/gpio_controller.cpp + src/robot_system/gpio/gpio_driver.cpp + src/robot_system/system_e_stop.cpp + src/robot_system/robot_driver/canopen_manager.cpp + src/robot_system/robot_driver/roboteq_robot_driver.cpp + src/robot_system/robot_driver/roboteq_data_converters.cpp + src/robot_system/robot_driver/roboteq_driver.cpp + src/robot_system/robot_driver/roboteq_error_filter.cpp + src/robot_system/robot_driver/lynx_robot_driver.cpp + src/robot_system/system_ros_interface.cpp + src/robot_system/lynx_system.cpp + src/robot_system/ugv_system.cpp + src/utils.cpp) + set_tests_properties(${PROJECT_NAME}_test_lynx_system PROPERTIES TIMEOUT 120) + target_include_directories( + ${PROJECT_NAME}_test_lynx_system + PUBLIC $ + $) + ament_target_dependencies( + ${PROJECT_NAME}_test_lynx_system + ament_index_cpp + diagnostic_updater + hardware_interface + rclcpp + husarion_ugv_msgs + husarion_ugv_utils + std_msgs + std_srvs) + target_link_libraries(${PROJECT_NAME}_test_lynx_system + PkgConfig::LIBLELY_COAPP PkgConfig::LIBGPIOD) + + ament_add_gmock( + ${PROJECT_NAME}_test_panther_system + test/unit/robot_system/test_panther_system.cpp + src/robot_system/gpio/gpio_controller.cpp + src/robot_system/gpio/gpio_driver.cpp + src/robot_system/system_e_stop.cpp + src/robot_system/robot_driver/canopen_manager.cpp + src/robot_system/robot_driver/roboteq_robot_driver.cpp + src/robot_system/robot_driver/roboteq_data_converters.cpp + src/robot_system/robot_driver/roboteq_driver.cpp + src/robot_system/robot_driver/roboteq_error_filter.cpp + src/robot_system/robot_driver/panther_robot_driver.cpp + src/robot_system/system_ros_interface.cpp + src/robot_system/panther_system.cpp + src/robot_system/ugv_system.cpp + src/utils.cpp) + set_tests_properties(${PROJECT_NAME}_test_panther_system PROPERTIES TIMEOUT + 120) + target_include_directories( + ${PROJECT_NAME}_test_panther_system + PUBLIC $ + $) + ament_target_dependencies( + ${PROJECT_NAME}_test_panther_system + ament_index_cpp + diagnostic_updater + hardware_interface + rclcpp + husarion_ugv_msgs + husarion_ugv_utils + std_msgs + std_srvs) + target_link_libraries(${PROJECT_NAME}_test_panther_system + PkgConfig::LIBLELY_COAPP PkgConfig::LIBGPIOD) + + # Integration tests option(TEST_INTEGRATION "Run integration tests" OFF) + if(TEST_INTEGRATION) # Hardware integration + ament_add_gtest(${PROJECT_NAME}_test_gpiod_driver + test/robot_system/gpio/test_gpio_driver.cpp) + ament_target_dependencies(${PROJECT_NAME}_test_gpiod_driver ament_index_cpp + husarion_ugv_utils) + target_link_libraries(${PROJECT_NAME}_test_gpiod_driver ${PROJECT_NAME} + PkgConfig::LIBGPIOD) + endif() + endif() - -endif() - -ament_export_include_directories(include) -ament_export_libraries(${PROJECT_NAME}) -ament_export_dependencies(${PACKAGE_DEPENDENCIES}) - -ament_package() + + ament_export_include_directories(include) + ament_export_libraries(${PROJECT_NAME}) + ament_export_dependencies(${PACKAGE_DEPENDENCIES}) + + ament_package() + \ No newline at end of file diff --git a/husarion_ugv_hardware_interfaces/package.xml b/husarion_ugv_hardware_interfaces/package.xml index 36c9f9d7c..5e94a469c 100644 --- a/husarion_ugv_hardware_interfaces/package.xml +++ b/husarion_ugv_hardware_interfaces/package.xml @@ -26,6 +26,7 @@ pkg-config pluginlib + ament_index_cpp controller_interface diagnostic_updater generate_parameter_library diff --git a/husarion_ugv_hardware_interfaces/test/phidget_imu_sensor/test_phidget_imu_sensor.cpp b/husarion_ugv_hardware_interfaces/test/phidget_imu_sensor/test_phidget_imu_sensor.cpp index d7dad3fe2..3ce5d07c8 100644 --- a/husarion_ugv_hardware_interfaces/test/phidget_imu_sensor/test_phidget_imu_sensor.cpp +++ b/husarion_ugv_hardware_interfaces/test/phidget_imu_sensor/test_phidget_imu_sensor.cpp @@ -210,6 +210,7 @@ class TestPhidgetImuSensor : public testing::Test std::unique_ptr imu_sensor_; std::shared_ptr rm_; + std::shared_ptr node_ = std::make_shared("PhidgetIMUTest"); }; TestPhidgetImuSensor::TestPhidgetImuSensor() @@ -222,7 +223,7 @@ TestPhidgetImuSensor::~TestPhidgetImuSensor() { rclcpp::shutdown(); } void TestPhidgetImuSensor::CreateResourceManagerFromUrdf(const std::string & urdf) { - rm_ = std::make_shared(urdf); + rm_ = std::make_unique(urdf, node_->get_node_clock_interface(), node_->get_node_logging_interface()); } hardware_interface::return_type TestPhidgetImuSensor::ConfigurePhidgetImu() diff --git a/husarion_ugv_hardware_interfaces/test/utils/system_test_utils.hpp b/husarion_ugv_hardware_interfaces/test/utils/system_test_utils.hpp index 1b93e6081..5e2200633 100644 --- a/husarion_ugv_hardware_interfaces/test/utils/system_test_utils.hpp +++ b/husarion_ugv_hardware_interfaces/test/utils/system_test_utils.hpp @@ -114,7 +114,7 @@ hardware_interface::HardwareInfo GenerateDefaultHardwareInfo() { hardware_interface::HardwareInfo hardware_info; hardware_info.name = "test"; - hardware_info.hardware_class_type = "UGVSystem"; + hardware_info.hardware_plugin_name = "UGVSystem"; hardware_interface::InterfaceInfo vel_command_interface; vel_command_interface.name = "velocity";