[WIP][hrpsys_ros_bridge_tutorials] Enable to call :def-limb-controller-method before *ri* initialization

hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l

@@ -314,7 +314,7 @@
                       (cons :controller-action ,(format nil "~A_controller/follow_joint_trajectory_action" (string-downcase limb)))
                       (cons :controller-state ,(format nil "~A_controller/state" (string-downcase limb)))
                       (cons :action-type control_msgs::FollowJointTrajectoryAction)
-                      (cons :joint-names (list ,@(send-all (send robot limb :joint-list) :name))))
+                      (cons :joint-names (send-all (send robot ,limb :joint-list) :name)))
                      )))))
       (if debugp
           (pprint (macroexpand sexp)))

hrpsys_ros_bridge/test/hrpsys-samples/test-def-limb-controller-method.l

@@ -0,0 +1,21 @@
+(require :unittest "lib/llib/unittest.l")
+(load "package://hrpsys_ros_bridge/euslisp/samplerobot-interface.l")
+
+(init-unit-test)
+
+;; Wait until Ros bridges are prepared.
+(ros::roseus "unittest")
+(unless (boundp '*tfl*)
+  (defvar *tfl* (instance ros::transform-listener :init)))
+(send *tfl* :wait-for-transform "WAIST_LINK0" "odom" (ros::time) 20.0)
+
+(deftest test-def-limb-controller-method
+  ;; Test :def-limb-controller-method before *ri* initialization
+  (assert (instance samplerobot-interface :def-limb-controller-method :rleg))
+  (samplerobot-init)
+  ;; Test :def-limb-controller-method after *ri* initialization
+  (assert (send *ri* :def-limb-controller-method :rleg))
+  )
+
+(run-all-tests)
+(exit)

hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch

@@ -42,4 +42,8 @@
         args="$(find hrpsys_ros_bridge)/test/hrpsys-samples/samplerobot-unittest.l $(find hrpsys_ros_bridge)/test/hrpsys-samples/samplerobot-auto-balancer.l"
         time-limit="900"
         retry="1" />
+  <test test-name="test_def_limb_controller_method" pkg="roseus" type="roseus"
+        args="$(find hrpsys_ros_bridge)/test/hrpsys-samples/test-def-limb-controller-method.l"
+        time-limit="300"
+        retry="1" />
 </launch>