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Unify transmission tests using shared minimal robot URDF in test assets #3031

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68f2ee0
Unify transmission tests using shared minimal robot URDF in test assets
naitikpahwa18 Feb 15, 2026
9daa961
Run Pre-commit
naitikpahwa18 Feb 15, 2026
913166b
Remove invalid transmission test case
naitikpahwa18 Feb 25, 2026
c28dd85
Merge branch 'master' into move-test-urdf-648
bmagyar Feb 26, 2026
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77 changes: 76 additions & 1 deletion ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -658,6 +658,12 @@ const auto hardware_resources =
<state_interface name="velocity"/>
<command_interface name="max_velocity" />
</joint>
<transmission name="ros2_control_transmission1">
<plugin>transmission_interface/SimpleTransmission</plugin>
<joint name="joint1" role="joint1">
<mechanical_reduction>325.949</mechanical_reduction>
</joint>
</transmission>
</ros2_control>
<ros2_control name="TestSensorHardware" type="sensor">
<hardware>
Expand Down Expand Up @@ -692,9 +698,77 @@ const auto hardware_resources =
<command_interface name="max_tcp_jerk"/>
<state_interface name="max_tcp_jerk"/>
</gpio>
<transmission name="differential_transmission">
<plugin>transmission_interface/DifferentialTransmission</plugin>
<actuator name="joint2_motor" role="actuator1">
<mechanical_reduction>50</mechanical_reduction>
</actuator>
<actuator name="joint3_motor" role="actuator2">
<mechanical_reduction>-50</mechanical_reduction>
</actuator>
<joint name="joint2" role="joint1">
<offset>0.5</offset>
<mechanical_reduction>2.0</mechanical_reduction>
</joint>
<joint name="joint3" role="joint2">
<offset>-0.5</offset>
<mechanical_reduction>-2.0</mechanical_reduction>
</joint>
</transmission>
<transmission name="four_bar_transmission">
<plugin>transmission_interface/FourBarLinkageTransmission</plugin>
<actuator name="joint2_motor" role="actuator1">
<mechanical_reduction>50</mechanical_reduction>
</actuator>
<actuator name="joint3_motor" role="actuator2">
<mechanical_reduction>-50</mechanical_reduction>
</actuator>
<joint name="joint2" role="joint1">
<offset>0.5</offset>
<mechanical_reduction>2.0</mechanical_reduction>
</joint>
<joint name="joint3" role="joint2">
<offset>-0.5</offset>
<mechanical_reduction>-2.0</mechanical_reduction>
</joint>
</transmission>
</ros2_control>
)";

const auto minimal_robot_transmissions =
R"(
<transmission name="minimal_transmission1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="minimal_motor1">
<mechanicalReduction>1</mechanicalReduction>
<hardwareInterface>PositionJointInterface</hardwareInterface>
</actuator>
</transmission>
<transmission name="minimal_transmission2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="minimal_motor2">
<mechanicalReduction>60</mechanicalReduction>
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</actuator>
</transmission>
)";

const auto minimal_robot_transmissions_wrong =
R"(
<transmission name="minimal_transmission1">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="minimal_motor1">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
)";

const auto hardware_resources_with_disabled_limits =
R"(
<ros2_control name="TestActuatorHardware" type="actuator">
Expand Down Expand Up @@ -2228,7 +2302,8 @@ const auto diff_drive_robot_sdf =
)";

const auto minimal_robot_urdf =
std::string(urdf_head) + std::string(hardware_resources) + std::string(urdf_tail);
std::string(urdf_head) + std::string(hardware_resources) +
std::string(minimal_robot_transmissions) + std::string(urdf_tail);
const auto minimal_robot_urdf_no_limits = std::string(urdf_head_continuous_missing_limits) +
std::string(hardware_resources) + std::string(urdf_tail);
const auto minimal_async_robot_urdf =
Expand Down
60 changes: 20 additions & 40 deletions transmission_interface/test/differential_transmission_loader_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,56 +56,36 @@ class TransmissionPluginLoader
TEST(DifferentialTransmissionLoaderTest, FullSpec)
{
// Parse transmission info
std::string urdf_to_test = std::string(ros2_control_test_assets::urdf_head) + R"(
<ros2_control name="FullSpec" type="system">
<joint name="joint1">
<command_interface name="velocity">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</command_interface>
<state_interface name="velocity"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<transmission name="transmission1">
<plugin>transmission_interface/DifferentialTransmission</plugin>
<actuator name="joint1_motor" role="actuator1">
<mechanical_reduction>50</mechanical_reduction>
</actuator>
<actuator name="joint2_motor" role="actuator2">
<mechanical_reduction>-50</mechanical_reduction>
</actuator>
<joint name="joint1" role="joint1">
<offset>0.5</offset>
<mechanical_reduction>2.0</mechanical_reduction>
</joint>
<joint name="joint2" role="joint2">
<offset>-0.5</offset>
<mechanical_reduction>-2.0</mechanical_reduction>
</joint>
</transmission>
</ros2_control>
</robot>
)";
std::string urdf_to_test = ros2_control_test_assets::minimal_robot_urdf;

std::vector<hardware_interface::HardwareInfo> infos =
hardware_interface::parse_control_resources_from_urdf(urdf_to_test);
ASSERT_THAT(infos[0].transmissions, SizeIs(1));
const hardware_interface::TransmissionInfo * info_ptr = nullptr;
for (const auto & info : infos)
{
for (const auto & transmission : info.transmissions)
{
if (transmission.type == "transmission_interface/DifferentialTransmission")
{
info_ptr = &transmission;
break;
}
}
if (info_ptr)
{
break;
}
}
ASSERT_TRUE(nullptr != info_ptr);

// Transmission loader
TransmissionPluginLoader loader;
std::shared_ptr<transmission_interface::TransmissionLoader> transmission_loader =
loader.create(infos[0].transmissions[0].type);
loader.create(info_ptr->type);
ASSERT_TRUE(nullptr != transmission_loader);

std::shared_ptr<transmission_interface::Transmission> transmission;
const hardware_interface::TransmissionInfo & info = infos[0].transmissions[0];
transmission = transmission_loader->load(info);
transmission = transmission_loader->load(*info_ptr);

// Validate transmission
transmission_interface::DifferentialTransmission * differential_transmission =
Expand Down
60 changes: 20 additions & 40 deletions transmission_interface/test/four_bar_linkage_transmission_loader_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,56 +56,36 @@ class TransmissionPluginLoader
TEST(FourBarLinkageTransmissionLoaderTest, FullSpec)
{
// Parse transmission info
std::string urdf_to_test = std::string(ros2_control_test_assets::urdf_head) + R"(
<ros2_control name="FullSpec" type="system">
<joint name="joint1">
<command_interface name="velocity">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</command_interface>
<state_interface name="velocity"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<transmission name="transmission1">
<plugin>transmission_interface/FourBarLinkageTransmission</plugin>
<actuator name="joint1_motor" role="actuator1">
<mechanical_reduction>50</mechanical_reduction>
</actuator>
<actuator name="joint2_motor" role="actuator2">
<mechanical_reduction>-50</mechanical_reduction>
</actuator>
<joint name="joint1" role="joint1">
<offset>0.5</offset>
<mechanical_reduction>2.0</mechanical_reduction>
</joint>
<joint name="joint2" role="joint2">
<offset>-0.5</offset>
<mechanical_reduction>-2.0</mechanical_reduction>
</joint>
</transmission>
</ros2_control>
</robot>
)";
std::string urdf_to_test = ros2_control_test_assets::minimal_robot_urdf;

std::vector<hardware_interface::HardwareInfo> infos =
hardware_interface::parse_control_resources_from_urdf(urdf_to_test);
ASSERT_THAT(infos[0].transmissions, SizeIs(1));
const hardware_interface::TransmissionInfo * info_ptr = nullptr;
for (const auto & info : infos)
{
for (const auto & transmission : info.transmissions)
{
if (transmission.type == "transmission_interface/FourBarLinkageTransmission")
{
info_ptr = &transmission;
break;
}
}
if (info_ptr)
{
break;
}
}
ASSERT_TRUE(nullptr != info_ptr);

// Transmission loader
TransmissionPluginLoader loader;
std::shared_ptr<transmission_interface::TransmissionLoader> transmission_loader =
loader.create(infos[0].transmissions[0].type);
loader.create(info_ptr->type);
ASSERT_TRUE(nullptr != transmission_loader);

std::shared_ptr<transmission_interface::Transmission> transmission;
const hardware_interface::TransmissionInfo & info = infos[0].transmissions[0];
transmission = transmission_loader->load(info);
transmission = transmission_loader->load(*info_ptr);

// Validate transmission
transmission_interface::FourBarLinkageTransmission * four_bar_linkage_transmission =
Expand Down
57 changes: 1 addition & 56 deletions transmission_interface/test/simple_transmission_loader_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,62 +57,7 @@ TEST(SimpleTransmissionLoaderTest, FullSpec)
{
// Parse transmission info

std::string urdf_to_test = std::string(ros2_control_test_assets::urdf_head) +
R"(
<ros2_control name="RRBotModularJoint1" type="actuator">
<hardware>
<plugin>ros2_control_demo_hardware/VelocityActuatorHardware</plugin>
<param name="example_param_write_for_sec">1.23</param>
<param name="example_param_read_for_sec">3</param>
</hardware>
<joint name="joint1">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="velocity"/>
</joint>
<transmission name="transmission1">
<plugin>transmission_interface/SimpleTransmission</plugin>
<joint name="joint1" role="joint1">
<mechanical_reduction>325.949</mechanical_reduction>
</joint>
</transmission>
</ros2_control>
<ros2_control name="RRBotModularJoint2" type="actuator">
<hardware>
<plugin>ros2_control_demo_hardware/VelocityActuatorHardware</plugin>
<param name="example_param_write_for_sec">1.23</param>
<param name="example_param_read_for_sec">3</param>
</hardware>
<joint name="joint2">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
<ros2_control name="RRBotModularPositionSensorJoint1" type="sensor">
<hardware>
<plugin>ros2_control_demo_hardware/PositionSensorHardware</plugin>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<state_interface name="position"/>
</joint>
</ros2_control>
<ros2_control name="RRBotModularPositionSensorJoint2" type="sensor">
<hardware>
<plugin>ros2_control_demo_hardware/PositionSensorHardware</plugin>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint2">
<state_interface name="position"/>
</joint>
</ros2_control>
</robot>
)";
std::string urdf_to_test = ros2_control_test_assets::minimal_robot_urdf;

std::vector<hardware_interface::HardwareInfo> infos =
hardware_interface::parse_control_resources_from_urdf(urdf_to_test);
Expand Down
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