From 608a4d303f86d171510739149fd1f10717337eaa Mon Sep 17 00:00:00 2001
From: Yara Shahin <58101871+YaraShahin@users.noreply.github.com>
Date: Thu, 17 Oct 2024 14:41:29 +0300
Subject: [PATCH] fix build errors in ros2 controller package setup (#232)

---
 scripts/ros2_control/setup-controller-package.bash           | 4 ++--
 templates/ros2_control/controller/test_dummy_controller.cpp  | 1 +
 templates/ros2_control/controller/test_dummy_controller.hpp  | 5 ++++-
 .../ros2_control/controller/test_load_dummy_controller.cpp   | 4 +---
 4 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/scripts/ros2_control/setup-controller-package.bash b/scripts/ros2_control/setup-controller-package.bash
index 764a6092..9b13307f 100755
--- a/scripts/ros2_control/setup-controller-package.bash
+++ b/scripts/ros2_control/setup-controller-package.bash
@@ -374,8 +374,8 @@ for DEP_PKG in "${TEST_DEP_PKGS[@]}"; do
   if `grep -q "  find_package(${DEP_PKG} REQUIRED)" CMakeLists.txt`; then
     echo "'$DEP_PKG' is already listed in CMakeLists.txt"
   else
-    append_to_string="ament_lint_auto_find_test_dependencies()"
-    sed -i "s/$append_to_string/$append_to_string\\n  find_package(${DEP_PKG} REQUIRED)/g" CMakeLists.txt
+    append_to_string="find_package(generate_parameter_library REQUIRED)"
+    sed -i "s/$append_to_string/$append_to_string\\nfind_package(${DEP_PKG} REQUIRED)/g" CMakeLists.txt
   fi
 
   # package.xml
diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp
index 88067cac..66bf3970 100644
--- a/templates/ros2_control/controller/test_dummy_controller.cpp
+++ b/templates/ros2_control/controller/test_dummy_controller.cpp
@@ -18,6 +18,7 @@
 //
 
 #include "test_dummy_controller.hpp"
+#include "rclcpp/rclcpp.hpp"
 
 #include <limits>
 #include <memory>
diff --git a/templates/ros2_control/controller/test_dummy_controller.hpp b/templates/ros2_control/controller/test_dummy_controller.hpp
index 4fd9e2fe..dece0dfd 100644
--- a/templates/ros2_control/controller/test_dummy_controller.hpp
+++ b/templates/ros2_control/controller/test_dummy_controller.hpp
@@ -33,6 +33,7 @@
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "rclcpp/executor.hpp"
 #include "rclcpp/parameter_value.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/utilities.hpp"
@@ -132,7 +133,9 @@ class DummyClassNameFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_dummy_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name), controller_interface::return_type::OK);
+    ASSERT_EQ(
+      controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
+      controller_interface::return_type::OK);
 
     std::vector<hardware_interface::LoanedCommandInterface> command_ifs;
     command_itfs_.reserve(joint_command_values_.size());
diff --git a/templates/ros2_control/controller/test_load_dummy_controller.cpp b/templates/ros2_control/controller/test_load_dummy_controller.cpp
index 8875e9cb..14121668 100644
--- a/templates/ros2_control/controller/test_load_dummy_controller.cpp
+++ b/templates/ros2_control/controller/test_load_dummy_controller.cpp
@@ -35,9 +35,7 @@ TEST(TestLoadDummyClassName, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      ros2_control_test_assets::minimal_robot_urdf),
-    executor, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_NO_THROW(
     cm.load_controller("test_dummy_package_namespace", "dummy_package_namespace/DummyClassName"));