fix: correct ASSERT_EQ to ASSERT_NE in admittance controller load test (backport #2264)

[mergify]

Fixes #1258

Problem

The test_load_controller test in admittance_controller was using ASSERT_EQ to check against nullptr, which means the test was asserting that the controller fails to load. Since the controller loads successfully with the params file provided, the test was always passing, even though it was checking the wrong condition.

Fix

Changed ASSERT_EQ to ASSERT_NE so the test correctly asserts that the controller loaded successfully (i.e. the result is not nullptr).

Note: range_sensor_broadcaster already has the correct ASSERT_NE in its load test and does not need changes.

Is this user-facing behavior change?

no

Did you use Generative AI?

no

---

This is an automatic backport of pull request #2264 done by Mergify.

[mergify]

Cherry-pick of b822e35 has failed:

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Changes to be committed:
	modified:   admittance_controller/test/test_params.yaml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   admittance_controller/test/test_load_admittance_controller.cpp

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[SouriRishik]

Hi @christophfroehlich The backport is currently failing on humble and it looks like there are differences in the test setup, such as missing test_file_path and a hardware plugin mismatch causing the controller load to fail.

Would you like me to adapt the test for humble compatibility, or will you handle it?

[christophfroehlich]

@SouriRishik thank you for your help! I had a quick look in other controllers on humble, there are only a few using yaml files during the load-tests. I might have missed something

[christophfroehlich]

You can just open a PR targeting the mergify/bp/humble/pr-2264 branch

[SouriRishik]

okay! I'll do that soon

[SouriRishik]

Hi @christophfroehlich, I found out something while trying to fix this issue
The backport test is currently failing on humble due to a mismatch in the test asset.

ros2_control_test_assets::minimal_robot_urdf uses hardware plugins like test_actuator, test_sensor, and test_system, which are not available in humble. The available plugins are from test_hardware_components (e.g., TestSingleJointActuator, TestForceTorqueSensor, etc.), leading to initialization failures before the controller is loaded.

Would you prefer adapting the test to use a compatible hardware setup available in humble (e.g., test_hardware_components systems), or is there a preferred test asset we should use for this backport?

[christophfroehlich]

if possible choose one of the existing