Fix CLI load_controller verb (ros-controls#585)

example_1/CMakeLists.txt

@@ -76,6 +76,7 @@ if(BUILD_TESTING)
  ament_add_pytest_test(example_1_urdf_xacro test/test_urdf_xacro.py)
  ament_add_pytest_test(view_example_1_launch test/test_view_robot_launch.py)
  ament_add_pytest_test(run_example_1_launch test/test_rrbot_launch.py)
+ ament_add_pytest_test(run_example_1_launch_cli_direct test/test_rrbot_launch_cli_direct.py)
 endif()
 
 

example_1/bringup/config/rrbot_controllers.yaml

@@ -13,27 +13,3 @@ forward_position_controller:
  - joint1
  - joint2
  interface_name: position
-
-
-joint_trajectory_position_controller:
- ros__parameters:
- type: joint_trajectory_controller/JointTrajectoryController
-
- joints:
- - joint1
- - joint2
-
- command_interfaces:
- - position
-
- state_interfaces:
- - position
-
- action_monitor_rate: 20.0 # Defaults to 20
-
- allow_partial_joints_goal: false # Defaults to false
- open_loop_control: true
- allow_integration_in_goal_trajectories: true
- constraints:
- stopped_velocity_tolerance: 0.01 # Defaults to 0.01
- goal_time: 0.0 # Defaults to 0.0 (start immediately)

example_1/bringup/config/rrbot_jtc.yaml

@@ -0,0 +1,22 @@
+joint_trajectory_position_controller:
+ ros__parameters:
+ type: joint_trajectory_controller/JointTrajectoryController
+
+ joints:
+ - joint1
+ - joint2
+
+ command_interfaces:
+ - position
+
+ state_interfaces:
+ - position
+
+ action_monitor_rate: 20.0 # Defaults to 20
+
+ allow_partial_joints_goal: false # Defaults to false
+ open_loop_control: true
+ allow_integration_in_goal_trajectories: true
+ constraints:
+ stopped_velocity_tolerance: 0.01 # Defaults to 0.01
+ goal_time: 0.0 # Defaults to 0.0 (start immediately)

example_1/doc/userdoc.rst

@@ -241,15 +241,15 @@ Tutorial steps
 
  .. code-block:: shell
 
- ros2 control load_controller joint_trajectory_position_controller
+ ros2 control load_controller joint_trajectory_position_controller $(ros2 pkg prefix ros2_control_demo_example_1 --share)/config/rrbot_jtc.yaml
 
  .. group-tab:: Docker
 
  (from the docker terminal, see above)
 
  .. code-block:: shell
 
- ros2 control load_controller joint_trajectory_position_controller
+ ros2 control load_controller joint_trajectory_position_controller $(ros2 pkg prefix ros2_control_demo_example_1 --share)/config/rrbot_jtc.yaml
 
  what should return ``Successfully loaded controller joint_trajectory_position_controller``. Check the status with
 
@@ -297,11 +297,6 @@ Tutorial steps
 
  what should give ``Successfully configured joint_trajectory_position_controller``.
 
- .. note::
-
- The parameters are already set in `rrbot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/bringup/config/rrbot_controllers.yaml>`__
- but the controller was not loaded from the `launch file rrbot.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/bringup/launch/rrbot.launch.py>`__ before.
-
  As an alternative, you can load the controller directly in ``inactive``-state by means of the option for ``load_controller`` with
 
  .. tabs::
@@ -310,15 +305,15 @@ Tutorial steps
 
  .. code-block:: shell
 
- ros2 control load_controller joint_trajectory_position_controller --set-state inactive
+ ros2 control load_controller --set-state inactive joint_trajectory_position_controller $(ros2 pkg prefix ros2_control_demo_example_1 --share)/config/rrbot_jtc.yaml
 
  .. group-tab:: Docker
 
  (from the docker terminal, see above)
 
  .. code-block:: shell
 
- ros2 control load_controller joint_trajectory_position_controller --set-state inactive
+ ros2 control load_controller --set-state inactive joint_trajectory_position_controller $(ros2 pkg prefix ros2_control_demo_example_1 --share)/config/rrbot_jtc.yaml
 
  You should get the result ``Successfully loaded controller joint_trajectory_position_controller into state inactive``.
 
@@ -436,7 +431,11 @@ Files used for this demos
 -------------------------
 
 * Launch file: `rrbot.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/bringup/launch/rrbot.launch.py>`__
-* Controllers yaml: `rrbot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/bringup/config/rrbot_controllers.yaml>`__
+* Controllers yaml:
+
+ * `rrbot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/bringup/config/rrbot_controllers.yaml>`__
+ * `rrbot_jtc.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/bringup/config/rrbot_jtc.yaml>`__
+
 * URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/urdf/rrbot.urdf.xacro>`__
 
  * Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__

example_1/test/test_rrbot_launch.py

@@ -31,6 +31,7 @@
 import os
 import pytest
 import unittest
+import subprocess
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
@@ -89,6 +90,53 @@ def test_check_if_msgs_published(self):
  check_if_js_published("/joint_states", ["joint1", "joint2"])
 
 
+class TestFixtureCLI(unittest.TestCase):
+
+ def setUp(self):
+ rclpy.init()
+ self.node = Node("test_node")
+
+ def tearDown(self):
+ self.node.destroy_node()
+ rclpy.shutdown()
+
+ def test_main(self, proc_output):
+
+ # Command to run the CLI
+ cname = "joint_trajectory_position_controller"
+ command = [
+ "ros2",
+ "control",
+ "load_controller",
+ cname,
+ os.path.join(
+ get_package_share_directory("ros2_control_demo_example_1"),
+ "config/rrbot_jtc.yaml",
+ ),
+ ]
+ subprocess.run(command, check=True)
+ check_controllers_running(self.node, [cname], state="unconfigured")
+ check_controllers_running(self.node, ["forward_position_controller"], state="active")
+
+ command = ["ros2", "control", "set_controller_state", cname, "inactive"]
+ subprocess.run(command, check=True)
+ check_controllers_running(self.node, [cname], state="inactive")
+ check_controllers_running(self.node, ["forward_position_controller"], state="active")
+
+ command = [
+ "ros2",
+ "control",
+ "set_controller_state",
+ "forward_position_controller",
+ "inactive",
+ ]
+ subprocess.run(command, check=True)
+ command = ["ros2", "control", "set_controller_state", cname, "active"]
+ subprocess.run(command, check=True)
+ check_controllers_running(self.node, ["forward_position_controller"], state="inactive")
+ check_controllers_running(self.node, [cname], state="active")
+
+
 # TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
 # @launch_testing.post_shutdown_test()
 # # These tests are run after the processes in generate_test_description() have shutdown.

example_1/test/test_rrbot_launch_cli_direct.py

@@ -0,0 +1,115 @@
+# Copyright (c) 2024 AIT - Austrian Institute of Technology GmbH
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+#
+# * Neither the name of the {copyright_holder} nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Christoph Froehlich
+
+import os
+import pytest
+import unittest
+import subprocess
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_testing.actions import ReadyToTest
+
+# import launch_testing.markers
+import rclpy
+from rclpy.node import Node
+from ros2_control_demo_testing.test_utils import check_controllers_running
+
+
+# Executes the given launch file and checks if all nodes can be started
+@pytest.mark.rostest
+def generate_test_description():
+ launch_include = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ os.path.join(
+ get_package_share_directory("ros2_control_demo_example_1"),
+ "launch/rrbot.launch.py",
+ )
+ ),
+ launch_arguments={"gui": "False"}.items(),
+ )
+
+ return LaunchDescription([launch_include, ReadyToTest()])
+
+
+class TestFixtureCliDirect(unittest.TestCase):
+
+ def setUp(self):
+ rclpy.init()
+ self.node = Node("test_node")
+
+ def tearDown(self):
+ self.node.destroy_node()
+ rclpy.shutdown()
+
+ def test_main(self, proc_output):
+
+ # Command to run the CLI
+ cname = "joint_trajectory_position_controller"
+ command = [
+ "ros2",
+ "control",
+ "load_controller",
+ "--set-state",
+ "inactive",
+ cname,
+ os.path.join(
+ get_package_share_directory("ros2_control_demo_example_1"),
+ "config/rrbot_jtc.yaml",
+ ),
+ ]
+ subprocess.run(command, check=True)
+ check_controllers_running(self.node, [cname], state="inactive")
+ check_controllers_running(self.node, ["forward_position_controller"], state="active")
+
+ command = [
+ "ros2",
+ "control",
+ "switch_controllers",
+ "--activate",
+ cname,
+ "--deactivate",
+ "forward_position_controller",
+ ]
+ subprocess.run(command, check=True)
+ check_controllers_running(self.node, ["forward_position_controller"], state="inactive")
+ check_controllers_running(self.node, [cname], state="active")
+
+
+# TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
+# @launch_testing.post_shutdown_test()
+# # These tests are run after the processes in generate_test_description() have shutdown.
+# class TestDescriptionCraneShutdown(unittest.TestCase):
+
+# def test_exit_codes(self, proc_info):
+# """Check if the processes exited normally."""
+# launch_testing.asserts.assertExitCodes(proc_info)

ros2_control_demo_testing/ros2_control_demo_testing/test_utils.py

@@ -45,7 +45,7 @@ def check_node_running(node, node_name, timeout=5.0):
  assert found, f"{node_name} not found!"
 
 
-def check_controllers_running(node, cnames, namespace=""):
+def check_controllers_running(node, cnames, namespace="", state="active"):
 
  # wait for controller to be loaded before we call the CM services
  found = {cname: False for cname in cnames} # Define 'found' as a dictionary
@@ -85,14 +85,14 @@ def check_controllers_running(node, cnames, namespace=""):
  assert controllers, "No controllers found!"
  for c in controllers:
  for cname in cnames:
- if c.name == cname and c.state == "active":
+ if c.name == cname and c.state == state:
  found[cname] = True
  break
  time.sleep(0.1)
 
  assert all(
  found.values()
- ), f"Controller(s) not found or not active: {', '.join([cname for cname, is_found in found.items() if not is_found])}"
+ ), f"Controller(s) not found or not {state}: {', '.join([cname for cname, is_found in found.items() if not is_found])}"
 
 
 def check_if_js_published(topic, joint_names):