From fb3d20dc8aacf10e07e63ac9b1c016447c25e425 Mon Sep 17 00:00:00 2001
From: Aaravanand00 <aaravanand5749@gmail.com>
Date: Sun, 28 Jun 2026 00:58:17 +0530
Subject: [PATCH] test_rclcpp: Add local and async set_parameters_atomically
 tests (#282)

Signed-off-by: Aaravanand00 <aaravanand5749@gmail.com>
---
 test_rclcpp/test/parameter_fixtures.hpp     | 17 +++++++++++
 test_rclcpp/test/test_local_parameters.cpp  | 17 +++++++++++
 test_rclcpp/test/test_remote_parameters.cpp | 33 +++++++++++++++++++++
 3 files changed, 67 insertions(+)

diff --git a/test_rclcpp/test/parameter_fixtures.hpp b/test_rclcpp/test/parameter_fixtures.hpp
index 089d7459..8b24f889 100644
--- a/test_rclcpp/test/parameter_fixtures.hpp
+++ b/test_rclcpp/test/parameter_fixtures.hpp
@@ -104,6 +104,23 @@ void test_set_parameters_atomically_sync(
   ASSERT_EQ(set_parameters_result.successful, expect_result_successful);
 }
 
+void test_set_parameters_atomically_async(
+  std::shared_ptr<rclcpp::Node> node,
+  std::shared_ptr<rclcpp::AsyncParametersClient> parameters_client,
+  bool expect_result_successful = true)
+{
+  printf("Setting parameters atomically\n");
+  std::vector<rclcpp::Parameter> parameters = get_test_parameters();
+  auto set_parameters_result = parameters_client->set_parameters_atomically(parameters);
+  rclcpp::spin_until_future_complete(node, set_parameters_result);  // Wait for the results.
+  printf("Got set_parameters_atomically result\n");
+
+  const auto result = set_parameters_result.get();
+
+  // Check to see if they were set.
+  ASSERT_EQ(result.successful, expect_result_successful);
+}
+
 void test_set_parameters_async(
   std::shared_ptr<rclcpp::Node> node,
   std::shared_ptr<rclcpp::AsyncParametersClient> parameters_client,
diff --git a/test_rclcpp/test/test_local_parameters.cpp b/test_rclcpp/test/test_local_parameters.cpp
index d9f0ecac..51830ec1 100644
--- a/test_rclcpp/test/test_local_parameters.cpp
+++ b/test_rclcpp/test/test_local_parameters.cpp
@@ -101,6 +101,23 @@ TEST_F(test_local_parameters, local_synchronous_repeated)
   }
 }
 
+TEST_F(test_local_parameters, local_set_parameters_atomically)
+{
+  auto node = rclcpp::Node::make_shared("test_parameters_local_set_atomically");
+  declare_test_parameters(node);
+  
+  auto parameters = get_test_parameters();
+  auto result = node->set_parameters_atomically(parameters);
+  
+  ASSERT_TRUE(result.successful);
+  
+  auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
+  if (!parameters_client->wait_for_service(20s)) {
+    ASSERT_TRUE(false) << "service not available after waiting";
+  }
+  test_get_parameters_sync(parameters_client);
+}
+
 TEST_F(test_local_parameters, local_asynchronous)
 {
   auto node = rclcpp::Node::make_shared(std::string("test_parameters_local_asynchronous"));
diff --git a/test_rclcpp/test/test_remote_parameters.cpp b/test_rclcpp/test/test_remote_parameters.cpp
index 261f5294..f674b7a5 100644
--- a/test_rclcpp/test/test_remote_parameters.cpp
+++ b/test_rclcpp/test/test_remote_parameters.cpp
@@ -59,6 +59,23 @@ TEST_F(parameters, test_remote_parameters_async)
   test_get_parameters_async(node, parameters_client, true);
 }
 
+TEST_F(parameters, test_set_remote_parameters_atomically_async)
+{
+  std::string test_server_name = "test_parameters_server_allow_undeclared";
+
+  auto node = rclcpp::Node::make_shared(std::string("test_set_remote_parameters_atomically_async"));
+
+  auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(
+    node, test_server_name);
+  if (!parameters_client->wait_for_service(20s)) {
+    ASSERT_TRUE(false) << "service not available after waiting";
+  }
+
+  test_set_parameters_atomically_async(node, parameters_client);
+
+  test_get_parameters_async(node, parameters_client, true);
+}
+
 TEST_F(parameters, test_remote_parameters_sync)
 {
   std::string test_server_name = "test_parameters_server_allow_undeclared";
@@ -123,6 +140,22 @@ TEST_F(parameters_must_declare, test_remote_parameters_async)
   test_set_parameters_async(node, parameters_client, 0);
 }
 
+TEST_F(parameters_must_declare, test_set_remote_parameters_atomically_async)
+{
+  std::string test_server_name = "test_parameters_server_must_declare";
+
+  auto node = rclcpp::Node::make_shared(std::string("test_set_remote_parameters_atomically_async"));
+
+  auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(
+    node,
+    test_server_name);
+  if (!parameters_client->wait_for_service(20s)) {
+    ASSERT_TRUE(false) << "service not available after waiting";
+  }
+
+  test_set_parameters_atomically_async(node, parameters_client, false);
+}
+
 TEST_F(parameters_must_declare, test_remote_parameters_sync)
 {
   std::string test_server_name = "test_parameters_server_must_declare";