Add another controller for better testing

controller_manager/test/test_controller_spawner_wildcard_entries.yaml

@@ -4,3 +4,7 @@
     joint_names: ["joint1"]
     param1: 1.0
     param2: 2.0
+
+wildcard_ctrl_3:
+  ros__parameters:
+    param3: 3.0

controller_manager/test/test_spawner_unspawner.cpp

@@ -375,12 +375,13 @@ TEST_F(TestLoadController, spawner_test_with_wildcard_entries_with_no_ctrl_name)
   // Provide controller type via the parsed file
   EXPECT_EQ(
     call_spawner(
-      "wildcard_ctrl_1 wildcard_ctrl_2 -c test_controller_manager --controller-manager-timeout 1.0 "
+      "wildcard_ctrl_1 wildcard_ctrl_2 wildcard_ctrl_3 -c test_controller_manager "
+      "--controller-manager-timeout 1.0 "
       "-p " +
       test_file_path),
     0);
 
-  auto verify_ctrl_parameter = [](const auto & ctrl_node)
+  auto verify_ctrl_parameter = [](const auto & ctrl_node, bool has_param_3)
   {
     if (!ctrl_node->has_parameter("joint_names"))
     {
@@ -401,25 +402,39 @@ TEST_F(TestLoadController, spawner_test_with_wildcard_entries_with_no_ctrl_name)
       ctrl_node->declare_parameter("param2", -10.0);
     }
     ASSERT_THAT(ctrl_node->get_parameter("param2").as_double(), 2.0);
+
+    if (!ctrl_node->has_parameter("param3"))
+    {
+      ctrl_node->declare_parameter("param3", -10.0);
+    }
+    ASSERT_THAT(ctrl_node->get_parameter("param3").as_double(), has_param_3 ? 3.0 : -10.0);
   };
 
-  ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul);
+  ASSERT_EQ(cm_->get_loaded_controllers().size(), 3ul);
 
-  auto wildcard_ctrl_1 = cm_->get_loaded_controllers()[0];
-  ASSERT_EQ(wildcard_ctrl_1.info.name, "wildcard_ctrl_2");
-  ASSERT_EQ(wildcard_ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
+  auto wildcard_ctrl_3 = cm_->get_loaded_controllers()[0];
+  ASSERT_EQ(wildcard_ctrl_3.info.name, "wildcard_ctrl_3");
+  ASSERT_EQ(wildcard_ctrl_3.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
   ASSERT_EQ(
-    wildcard_ctrl_1.c->get_lifecycle_state().id(),
+    wildcard_ctrl_3.c->get_lifecycle_state().id(),
     lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
-  verify_ctrl_parameter(wildcard_ctrl_1.c->get_node());
+  verify_ctrl_parameter(wildcard_ctrl_3.c->get_node(), true);
 
   auto wildcard_ctrl_2 = cm_->get_loaded_controllers()[1];
-  ASSERT_EQ(wildcard_ctrl_2.info.name, "wildcard_ctrl_1");
+  ASSERT_EQ(wildcard_ctrl_2.info.name, "wildcard_ctrl_2");
   ASSERT_EQ(wildcard_ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
   ASSERT_EQ(
     wildcard_ctrl_2.c->get_lifecycle_state().id(),
     lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
-  verify_ctrl_parameter(wildcard_ctrl_2.c->get_node());
+  verify_ctrl_parameter(wildcard_ctrl_2.c->get_node(), false);
+
+  auto wildcard_ctrl_1 = cm_->get_loaded_controllers()[2];
+  ASSERT_EQ(wildcard_ctrl_1.info.name, "wildcard_ctrl_1");
+  ASSERT_EQ(wildcard_ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
+  ASSERT_EQ(
+    wildcard_ctrl_1.c->get_lifecycle_state().id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  verify_ctrl_parameter(wildcard_ctrl_1.c->get_node(), false);
 }
 
 TEST_F(TestLoadController, unload_on_kill)