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This looks like perhaps it's just a problem not being up-to-date with ros2_control but cribbing from a bleeding-edge test in admittance_controller.

I started a new virtual env and installed a bunch of ros2_control-related packages from source, and now my test passes:

[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from TestLoadDzMinimalController
[ RUN      ] TestLoadDzMinimalController.load_controller
[INFO] [1668053588.268818404] [resource_manager]: Loading hardware 'TestActuatorHardware' 
[INFO] [1668053588.269133031] [resource_manager]: Initialize hardware 'TestActuatorHardware' 
[INFO] [1668053588.269149398] [resource_manager]: Successful initialization of hardware 'TestActuatorHardware'
[INFO] [1668053588.269161442] [resource_manager]: Loading hardware 'TestSensorHardware' 
[INFO] [1668053588.269218916] [resource_manager]: Initialize hardware 'TestSensorHardware' 
[INFO] [1668053588.269227868] [resource_manager]: Successful initialization of hardware 'TestSensorHardware'
[INFO] [1668053588.269234006] [resource_manager]: Loading hardware 'TestSystemHardware' 
[INFO] [1668053588.269277314] [resource_manager]: Initialize hardware 'TestSystemHardware' 
[INFO] [1668053588.269286159] [resource_manager]: Successful initialization of hardware 'TestSystemHardware'
[INFO] [1668053588.282571466] [test_controller_manager]: Loading controller 'load_dz_minimal_controller'
[       OK ] TestLoadDzMinimalController.load_controller (24 ms)
[----------] 1 test from TestLoadDzMinimalController (24 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (24 ms total)
[  PASSED  ] 1 test.