Add tests for GPIO parsing behavior in component_parser#3157
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Anusha-Sharma-2 wants to merge 1 commit intoros-controls:masterfrom
Open
Add tests for GPIO parsing behavior in component_parser#3157Anusha-Sharma-2 wants to merge 1 commit intoros-controls:masterfrom
Anusha-Sharma-2 wants to merge 1 commit intoros-controls:masterfrom
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saikishor
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Mar 30, 2026
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The name of the test and what it does is completely different. I believe it this crashes at the Resource Manager level, not at the parsing level
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Summary
This PR adds test coverage for GPIO tag parsing in
component_parser.Specifically, it introduces a test case where a GPIO interface is declared in the URDF but does not correspond to a hardware interface.
Details
While working on this, I observed that unlike joints and sensors, GPIO interfaces are not strictly validated against hardware interface existence during URDF parsing. The added test documents this behavior and ensures it is explicitly covered.
This improves test coverage and clarifies expected behavior for GPIO parsing. Happy to extend this further if stricter validation for GPIO interfaces is desired.
Testing
colcon build --packages-select hardware_interfacecolcon test --packages-select hardware_interfacepre-commit run --all-filesRelated Issue
Closes #976