56f98bd226
We are standardizing our software under Apache License 2.0. This PR
replaces existing BSD 3-Clause License with Apache 2.0 in this
repository.
## About Copyright
All commits in this repository are made by Reazon Holdings, Inc.
members, so the copyright has been added as follows.
- `Copyright 2025 Reazon Holdings, Inc.`
```console
$ git shortlog -sn
55 Thomason Zhou
14 thomason
5 takuya kodama
1 Fujimoto Seiji
1 edwin-giang
1 toki
```
## How it was done
We added the new license header directory by directory, with each commit
covering a single directory to make review easier.
To ensure there are no missing files, we ran the following commands.
```
$ grep -RIL --exclude-dir='.git' --exclude='*.stl' "Apache License, Version 2.0" .
./openarm_bringup/README.md
./openarm_bimanual_moveit_config/README.md
./openarm_bimanual_description/urdf/openarm_bimanual.urdf
./.gitignore
./README.md
./openarm_description/urdf/openarm.urdf
./openarm_description/resource/openarm_description
```
The following files are auto-generated.
- openarm_bimanual_description/urdf/openarm_bimanual.urdf
- openarm_description/urdf/openarm.urdf
129 lines
4.9 KiB
C++
129 lines
4.9 KiB
C++
// Copyright 2025 Reazon Holdings, Inc.
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// Copyright 2025 Stogl Robotics Consulting UG (haftungsbeschränkt)
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gmock/gmock.h>
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#include <string>
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#include "hardware_interface/resource_manager.hpp"
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#include "ros2_control_test_assets/components_urdfs.hpp"
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#include "ros2_control_test_assets/descriptions.hpp"
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class TestOpenArmHW : public ::testing::Test {
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protected:
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void SetUp() override {
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openarm_hardware_7dof_ =
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R"(
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<ros2_control name="OpenArmHW7DOF" type="system">
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<hardware>
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<!-- By default, set up controllers for simulation. This won't work on real hardware -->
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<plugin>mock_components/GenericSystem</plugin>
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<plugin>openarm_hardware/OpenArmHW</plugin>
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</hardware>
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<joint name="rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position">
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<param name="initial_value">0</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="rev2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position">
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<param name="initial_value">0</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position">
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<param name="initial_value">0</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="rev4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position">
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<param name="initial_value">0</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position">
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<param name="initial_value">0</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="rev6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position">
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<param name="initial_value">0</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position">
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<param name="initial_value">0</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_pris1">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">0</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="right_pris2">
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<state_interface name="position">
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<param name="initial_value">0</param>
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</state_interface>
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</joint>
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</ros2_control>
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)";
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}
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std::string openarm_hardware_7dof_;
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};
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TEST_F(TestOpenArmHW, load_openarm_hardware_7dof) {
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auto urdf = ros2_control_test_assets::urdf_head + openarm_hardware_7dof_ +
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ros2_control_test_assets::urdf_tail;
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ASSERT_NO_THROW(hardware_interface::ResourceManager rm(urdf));
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}
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