Check robot description validity on AdmittanceController and test for it

[caio-freitas]

Fix #713

• Uncommented test case with "bad_robot" as robot description from test suite in test_admittance_controller.cpp.
• Updated the on_init on test_admittance_controller.hpp to only override the robot description with the one defined in the ros2_control_test_assets if not already defined.
• On the initialization of the admittance controller, verified if the robot description is a valid xml, similar to what's done in ros2_control/hardware_interface/src/component_parser.cpp (here)

[christophfroehlich]

Thank you for taking this. I have some doubts if this is tested properly, see the comments

[christophfroehlich]

Thinking again, is there really a need to check this inside the controller? The controller manager will not start with a broken urdf, right @saikishor ?

[saikishor]

I agree with @christophfroehlich that this is not needed as CM provides a valid one.

Can you explain to us, why did you have a need to do this?

[christophfroehlich]

see the linked issue, but this was before we passed the robot description from the cm to the controllers. sorry for not checking that earlier. @caio-freitas would you mind in reverting this and cleanup the tests as by my comments instead?

[christophfroehlich]

Please fix the failing pre-commit tests: install it locally with pre-commit install, and run pre-commit run --all now to fix.

[codecov]

Codecov Report

❌ Patch coverage is 60.00000% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.36%. Comparing base (d71538a) to head (d968b83).
⚠️ Report is 5 commits behind head on master.

Files with missing lines	Patch %	Lines
...dmittance_controller/src/admittance_controller.cpp	44.44%	4 Missing and 1 partial ⚠️
...nce_controller/test/test_admittance_controller.hpp	83.33%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2009      +/-   ##
==========================================
+ Coverage   85.32%   85.36%   +0.03%     
==========================================
  Files         143      143              
  Lines       13936    13914      -22     
  Branches     1201     1203       +2     
==========================================
- Hits        11891    11877      -14     
+ Misses       1638     1629       -9     
- Partials      407      408       +1     

Flag	Coverage Δ
unittests	85.36% <60.00%> (+0.03%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...nce_controller/test/test_admittance_controller.cpp	100.00% <ø> (ø)
...nce_controller/test/test_admittance_controller.hpp	94.68% <83.33%> (-0.43%)	⬇️
...dmittance_controller/src/admittance_controller.cpp	73.61% <44.44%> (-0.95%)	⬇️

... and 4 files with indirect coverage changes

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