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Tests for the Cartesian Impedance Controller

This directory contains three test suites. They cover the base library (unit tests) and the ROS 2 integration layer (integration tests).

Test suites

1. base_tests — Base library unit tests

Source: base_tests.cpp

Tests the CartesianImpedanceController C++ class directly, without any running ROS 2 system.

Requirements: Eigen, gtest (no running ROS 2 system).

2. ros_tests — ROS 2 topic and parameter integration tests

Source: ros_tests.cpp
Launch file: ros_tests.launch.py

Tests the running controller over ROS 2 interfaces.

Requirements: A running controller manager with CartesianImpedance_trajectory_controller active.

3. ros_func_tests — ROS 2 functional integration tests

Source: ros_func_tests.cpp
Launch file: ros_func_tests.launch.py

Tests the controller's runtime behaviour over ROS 2 topics.

Requirements: A running simulation or real robot with the controller active, the robot initially positioned near y ≈ 0.3 m (as set up by the example simulation).

Running the tests

Build and run with colcon:

cd ~/ros2_ws
colcon build --packages-select cartesian_impedance_controller
colcon test --packages-select cartesian_impedance_controller

Manually run Base library unit tests (no simulation needed)

Or build and invoke the binary directly:

colcon build --packages-select cartesian_impedance_controller
./build/cartesian_impedance_controller/base_tests

Manually run Integration tests (simulation required)

Step 1 – Start your simulation or robot stack in a separate terminal. The controller manager must be running with CartesianImpedance_trajectory_controller active:

ros2 launch cartesian_impedance_controller minimal_mock_simulation.launch.py

Step 2 – Run the tests:

In another terminal, run the test executables:

./install/cartesian_impedance_controller/lib/cartesian_impedance_controller/ros_tests
./install/cartesian_impedance_controller/lib/cartesian_impedance_controller/ros_func_tests

Filtering tests with --gtest_filter

# Only parameter existence test
./install/.../ros_tests --gtest_filter='ROSParameterTests.*'

# Only the wrench functional test
./install/.../ros_func_tests --gtest_filter='ROSFunctionalityTests.forceTests'

Controller name

Both integration test executables default to the controller node name CartesianImpedance_trajectory_controller. If your deployment uses a different name, change the ctrl_name constant at the top of ros_tests.cpp and ros_func_tests.cpp and rebuild.