added tests to the passthrough controller

Author: saikishor

passthrough_controller/CMakeLists.txt

@@ -59,6 +59,13 @@ if(BUILD_TESTING)
     controller_manager
     ros2_control_test_assets
   )
+
+  ament_add_gmock(test_passthrough_controller
+    test/test_passthrough_controller.cpp
+  )
+  target_link_libraries(test_passthrough_controller
+    passthrough_controller
+  )
 endif()
 
 install(

passthrough_controller/passthrough_controller.xml

@@ -6,4 +6,4 @@
       A simple demo of chainable controllers. It passes commands through without change.
     </description>
   </class>
-</library>
+</library>

passthrough_controller/src/passthrough_controller.cpp

@@ -17,7 +17,7 @@
 namespace passthrough_controller
 {
 
-} // namespace passthrough_controller
+}  // namespace passthrough_controller
 
 #include "pluginlib/class_list_macros.hpp"
 

passthrough_controller/src/passthrough_controller_parameters.yaml

@@ -4,4 +4,3 @@ passthrough_controller:
     default_value: [],
     description: "Names of the interfaces to be forwarded",
   }
-

passthrough_controller/test/test_load_controller.cpp

@@ -34,7 +34,8 @@ TEST(TestLoadPidController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller("test_passthrough_controller", "passthrough_controller/PassthroughController"));
+  ASSERT_NO_THROW(cm.load_controller(
+    "test_passthrough_controller", "passthrough_controller/PassthroughController"));
 
   rclcpp::shutdown();
 }