Test also for the inactive controller (#762) (#763)

(cherry picked from commit 93b2f12)

Co-authored-by: Christoph Fröhlich <[email protected]>

Author: mergify[bot]

example_13/test/test_three_robots_launch.py

@@ -92,8 +92,15 @@ def test_behavior(self, proc_output):
             "rrbot_with_sensor_joint_state_broadcaster",
             "rrbot_with_sensor_fts_broadcaster",
         ]
+        check_controllers_running(self.node, cnames, "", "active")
+        cnames = [
+            "rrbot_with_sensor_position_controller",
+            "threedofbot_joint_state_broadcaster",
+            "threedofbot_position_controller",
+            "threedofbot_pid_gain_controller",
+        ]
+        check_controllers_running(self.node, cnames, "", "inactive")
 
-        check_controllers_running(self.node, cnames)
         check_if_js_published(
             "/joint_states",
             [

example_15/test/test_multi_controller_manager_launch.py

@@ -83,14 +83,20 @@ def tearDown(self):
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
 
-    def test_controller_running_cm1(self, proc_output):
+    def test_controller_running(self, proc_output):
 
         cnames = [
             "forward_position_controller",
             "joint_state_broadcaster",
         ]
-        check_controllers_running(self.node, cnames, "/rrbot_1")
-        check_controllers_running(self.node, cnames, "/rrbot_2")
+        check_controllers_running(self.node, cnames, "/rrbot_1", "active")
+        check_controllers_running(self.node, cnames, "/rrbot_2", "active")
+
+        cnames = [
+            "position_trajectory_controller",
+        ]
+        check_controllers_running(self.node, cnames, "/rrbot_1", "inactive")
+        check_controllers_running(self.node, cnames, "/rrbot_2", "inactive")
 
     def test_check_if_msgs_published(self):
         check_if_js_published("/rrbot_1/joint_states", ["rrbot_1_joint1", "rrbot_1_joint2"])

example_15/test/test_rrbot_namespace_launch.py

@@ -89,8 +89,11 @@ def test_controller_running(self, proc_output):
             "forward_position_controller",
             "joint_state_broadcaster",
         ]
+        check_controllers_running(self.node, cnames, "/rrbot", "active")
 
-        check_controllers_running(self.node, cnames, "/rrbot")
+        check_controllers_running(
+            self.node, ["position_trajectory_controller"], "/rrbot", "inactive"
+        )
 
     def test_check_if_msgs_published(self):
         check_if_js_published("/rrbot/joint_states", ["joint1", "joint2"])