rename flag, add some ttests in resource manager

controller_manager/src/controller_manager.cpp

@@ -211,11 +211,12 @@ void ControllerManager::robot_description_callback(const std_msgs::msg::String &
   // to die if a non valid urdf is passed. However, should maybe be fine tuned.
   try
   {
-    if (resource_manager_->is_initialized())
+    if (resource_manager_->load_urdf_called())
     {
       RCLCPP_WARN(
         get_logger(),
-        "ResourceManager has already been initialized. Ignoring received robot description file.");
+        "ResourceManager has already loaded an urdf file. Ignoring attempt to reload a robot "
+        "description file.");
       return;
     }
     init_resource_manager(robot_description.data.c_str());

hardware_interface/include/hardware_interface/resource_manager.hpp

@@ -66,7 +66,7 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
    */
   explicit ResourceManager(
     const std::string & urdf, bool validate_interfaces = true, bool activate_all = false,
-    bool initialized = false);
+    bool urdf_loaded = false);
 
   ResourceManager(const ResourceManager &) = delete;
 
@@ -85,12 +85,14 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
   void load_urdf(const std::string & urdf, bool validate_interfaces = true);
 
   /**
-   * @brief if the resource manager has been initialized with a valid urdf file this returns true.
+   * @brief if the resource manager load_urdf(...) function has been called this returns true.
+   * We want to permit to load the urdf later on but we currently don't want to permit multiple
+   * calls to load_urdf (reloading/loading different urdf)
    *
-   * @return true if resource manager has been initialized with a valid urdf file
-   * @return false if resource manager has not been initialized
+   * @return true if resource manager's load_urdf() has been called
+   * @return false if resource manager's load_urdf() has not been called
    */
-  bool is_initialized() const;
+  bool load_urdf_called() const;
 
   /// Claim a state interface given its key.
   /**
@@ -415,7 +417,7 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
   // Structure to store read and write status so it is not initialized in the real-time loop
   HardwareReadWriteStatus read_write_status;
 
-  bool initialized_ = false;
+  bool load_urdf_called_ = false;
 };
 
 }  // namespace hardware_interface

hardware_interface/src/resource_manager.cpp

@@ -574,8 +574,8 @@ ResourceManager::ResourceManager() : resource_storage_(std::make_unique<Resource
 ResourceManager::~ResourceManager() = default;
 
 ResourceManager::ResourceManager(
-  const std::string & urdf, bool validate_interfaces, bool activate_all, bool initialized)
-: resource_storage_(std::make_unique<ResourceStorage>()), initialized_(initialized)
+  const std::string & urdf, bool validate_interfaces, bool activate_all, bool load_urdf_called)
+: resource_storage_(std::make_unique<ResourceStorage>()), load_urdf_called_(load_urdf_called)
 {
   load_urdf(urdf, validate_interfaces);
 
@@ -593,6 +593,7 @@ ResourceManager::ResourceManager(
 // CM API: Called in "callback/slow"-thread
 void ResourceManager::load_urdf(const std::string & urdf, bool validate_interfaces)
 {
+  load_urdf_called_ = true;
   const std::string system_type = "system";
   const std::string sensor_type = "sensor";
   const std::string actuator_type = "actuator";
@@ -629,11 +630,9 @@ void ResourceManager::load_urdf(const std::string & urdf, bool validate_interfac
   read_write_status.failed_hardware_names.reserve(
     resource_storage_->actuators_.size() + resource_storage_->sensors_.size() +
     resource_storage_->systems_.size());
-
-  initialized_ = true;
 }
 
-bool ResourceManager::is_initialized() const { return initialized_; }
+bool ResourceManager::load_urdf_called() const { return load_urdf_called_; }
 
 // CM API: Called in "update"-thread
 LoanedStateInterface ResourceManager::claim_state_interface(const std::string & key)

hardware_interface/test/test_resource_manager.cpp

@@ -212,6 +212,34 @@ TEST_F(ResourceManagerTest, initialization_with_urdf_unclaimed)
   }
 }
 
+TEST_F(ResourceManagerTest, no_load_urdf_function_called)
+{
+  TestableResourceManager rm;
+  ASSERT_FALSE(rm.load_urdf_called());
+}
+
+TEST_F(ResourceManagerTest, load_urdf_called_if_urdf_is_invalid)
+{
+  TestableResourceManager rm;
+  EXPECT_THROW(
+    rm.load_urdf(ros2_control_test_assets::minimal_robot_missing_state_keys_urdf), std::exception);
+  ASSERT_TRUE(rm.load_urdf_called());
+}
+
+TEST_F(ResourceManagerTest, load_urdf_called_if_urdf_is_valid)
+{
+  TestableResourceManager rm(ros2_control_test_assets::minimal_robot_urdf);
+  ASSERT_TRUE(rm.load_urdf_called());
+}
+
+TEST_F(ResourceManagerTest, can_load_urdf_later)
+{
+  TestableResourceManager rm;
+  ASSERT_FALSE(rm.load_urdf_called());
+  rm.load_urdf(ros2_control_test_assets::minimal_robot_urdf);
+  ASSERT_TRUE(rm.load_urdf_called());
+}
+
 TEST_F(ResourceManagerTest, resource_claiming)
 {
   TestableResourceManager rm(ros2_control_test_assets::minimal_robot_urdf);