Check robot description validity on AdmittanceController and test for it

[caio-freitas]

Fix #713

• Uncommented test case with "bad_robot" as robot description from test suite in test_admittance_controller.cpp.
• Updated the on_init on test_admittance_controller.hpp to only override the robot description with the one defined in the ros2_control_test_assets if not already defined.
• On the initialization of the admittance controller, verified if the robot description is a valid xml, similar to what's done in ros2_control/hardware_interface/src/component_parser.cpp (here)

[christophfroehlich]

Thank you for taking this. I have some doubts if this is tested properly, see the comments

[christophfroehlich]

Thinking again, is there really a need to check this inside the controller? The controller manager will not start with a broken urdf, right @saikishor ?

[saikishor]

I agree with @christophfroehlich that this is not needed as CM provides a valid one.

Can you explain to us, why did you have a need to do this?

[christophfroehlich]

see the linked issue, but this was before we passed the robot description from the cm to the controllers. sorry for not checking that earlier. @caio-freitas would you mind in reverting this and cleanup the tests as by my comments instead?

[christophfroehlich]

Please fix the failing pre-commit tests: install it locally with pre-commit install, and run pre-commit run --all now to fix.

[codecov]

Codecov Report

❌ Patch coverage is 57.14286% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.88%. Comparing base (36cfca8) to head (d4e6235).

Files with missing lines	Patch %	Lines
...dmittance_controller/src/admittance_controller.cpp	44.44%	4 Missing and 1 partial ⚠️
...nce_controller/test/test_admittance_controller.hpp	80.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2009      +/-   ##
==========================================
- Coverage   84.91%   84.88%   -0.03%     
==========================================
  Files         148      148              
  Lines       14367    14379      +12     
  Branches     1230     1233       +3     
==========================================
+ Hits        12200    12206       +6     
- Misses       1740     1744       +4     
- Partials      427      429       +2     

Flag	Coverage Δ
unittests	84.88% <57.14%> (-0.03%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...nce_controller/test/test_admittance_controller.cpp	100.00% <ø> (ø)
...nce_controller/test/test_admittance_controller.hpp	94.65% <80.00%> (-0.46%)	⬇️
...dmittance_controller/src/admittance_controller.cpp	73.61% <44.44%> (-0.95%)	⬇️

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[christophfroehlich]

the compatibility build fails, please review