fixed tests

Author: soham2560

hardware_interface/test/mock_components/test_generic_system.cpp

@@ -2418,7 +2418,13 @@ TEST_F(TestGenericSystem, simple_dynamics_pos_control_modes_interfaces)
               hardware_system_2dof_with_position_control_mode_position_state_only_ +
               ros2_control_test_assets::urdf_tail;
 
-  TestableResourceManager rm(node_, urdf);
+  hardware_interface::ResourceManagerParams params;
+  params.robot_description = urdf;
+  params.clock = node_->get_clock();
+  params.logger = node_->get_logger();
+  params.executor = executor_;
+
+  TestableResourceManager rm(params, true);
   // Activate components to get all interfaces available
   activate_components(rm, {"MockHardwareSystem"});
 
@@ -2494,7 +2500,13 @@ TEST_F(TestGenericSystem, simple_dynamics_pos_control_modes_interfaces_w_offset)
               ros2_control_test_assets::urdf_tail;
   constexpr double offset = -3.0;
 
-  TestableResourceManager rm(node_, urdf);
+  hardware_interface::ResourceManagerParams params;
+  params.robot_description = urdf;
+  params.clock = node_->get_clock();
+  params.logger = node_->get_logger();
+  params.executor = executor_;
+
+  TestableResourceManager rm(params, true);
   // Activate components to get all interfaces available
   activate_components(rm, {"MockHardwareSystem"});
 
@@ -2569,7 +2581,13 @@ TEST_F(TestGenericSystem, simple_dynamics_vel_control_modes_interfaces)
               hardware_system_2dof_with_velocity_control_mode_position_state_only_ +
               ros2_control_test_assets::urdf_tail;
 
-  TestableResourceManager rm(node_, urdf);
+  hardware_interface::ResourceManagerParams params;
+  params.robot_description = urdf;
+  params.clock = node_->get_clock();
+  params.logger = node_->get_logger();
+  params.executor = executor_;
+
+  TestableResourceManager rm(params, true);
   // Activate components to get all interfaces available
   activate_components(rm, {"MockHardwareSystem"});
 
@@ -2645,7 +2663,13 @@ TEST_F(TestGenericSystem, simple_dynamics_vel_control_modes_interfaces_with_offs
               ros2_control_test_assets::urdf_tail;
   constexpr double offset = -3.0;
 
-  TestableResourceManager rm(node_, urdf);
+  hardware_interface::ResourceManagerParams params;
+  params.robot_description = urdf;
+  params.clock = node_->get_clock();
+  params.logger = node_->get_logger();
+  params.executor = executor_;
+
+  TestableResourceManager rm(params, true);
   // Activate components to get all interfaces available
   activate_components(rm, {"MockHardwareSystem"});
 
@@ -2829,7 +2853,13 @@ TEST_F(TestGenericSystem, perform_command_mode_switch_works_with_all_example_tag
     [&](
       const std::string & urdf, const std::string & urdf_head = ros2_control_test_assets::urdf_head)
   {
-    TestableResourceManager rm(node_, urdf_head + urdf + ros2_control_test_assets::urdf_tail);
+    hardware_interface::ResourceManagerParams params;
+    params.robot_description = urdf_head + urdf + ros2_control_test_assets::urdf_tail;
+    params.clock = node_->get_clock();
+    params.logger = node_->get_logger();
+    params.executor = executor_;
+
+    TestableResourceManager rm(params, true);
     rclcpp_lifecycle::State state(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, "active");
     rm.set_component_state("MockHardwareSystem", state);
     auto start_interfaces = rm.command_interface_keys();