Fix test for ros/jazzy

CMakeLists.txt

@@ -20,6 +20,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()

README.md

@@ -1,4 +1,4 @@
-Video explanation of its implemntation and how to use can be found [here](https://youtu.be/iEiZje8imeU?si=3jsBkv6SsXmHkQpW).
+Video explanation of its implementation and how to use can be found [here](https://youtu.be/iEiZje8imeU?si=3jsBkv6SsXmHkQpW).
 # ModbusHardwareInterface
 If you not familiar with `ros2_control.xacro` check the [section at the end](#mini-urdf-and-xacro-introduction).
 ## Using ModbusHardwareInterface in ros2_control.xacro

package.xml

@@ -12,6 +12,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
 
+  <depend>backward_ros</depend>
   <depend>hardware_interface</depend>
   <depend>libmodbus-dev</depend>
   <depend>pluginlib</depend>

test/test_modbus_hardware_interface.cpp

@@ -16,13 +16,19 @@
 
 #include <string>
 
+#include "rclcpp/rclcpp.hpp"
+
 #include "hardware_interface/resource_manager.hpp"
 #include "ros2_control_test_assets/components_urdfs.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
 
 class TestModbusHardwareInterface : public ::testing::Test
 {
 protected:
+  static void SetUpTestCase() { rclcpp::init(0, nullptr); }
+
+  static void TearDownTestCase() { rclcpp::shutdown(); }
+
   void SetUp() override
   {
     // TODO(anyone): Extend this description to your robot
@@ -66,11 +72,15 @@ class TestModbusHardwareInterface : public ::testing::Test
     )";
   }
   std::string valid_modbus_hardware;
+
+  rclcpp::Node::SharedPtr rm_node = std::make_shared<rclcpp::Node>("ResourceManager");
 };
 
 TEST_F(TestModbusHardwareInterface, load_modbus_hardware_interface_2dof)
 {
   auto urdf = ros2_control_test_assets::urdf_head + valid_modbus_hardware +
               ros2_control_test_assets::urdf_tail;
-  ASSERT_NO_THROW(hardware_interface::ResourceManager rm(urdf));
+
+  ASSERT_NO_THROW(hardware_interface::ResourceManager rm(
+    urdf, rm_node->get_node_clock_interface(), rm_node->get_node_logging_interface()));
 }