Remove separate test launch file

controller_manager/CMakeLists.txt

@@ -211,7 +211,7 @@ if(BUILD_TESTING)
  )
 
  find_package(ament_cmake_pytest REQUIRED)
- install(FILES test/test_ros2_control_node.yaml test/cm.launch.py
+ install(FILES test/test_ros2_control_node.yaml
  DESTINATION test)
  ament_add_pytest_test(test_ros2_control_node test/test_ros2_control_node_launch.py)
 endif()

controller_manager/test/test_ros2_control_node_launch.py

@@ -28,36 +28,41 @@
 #
 # Author: Christoph Froehlich
 
-import os
 import pytest
 import unittest
 import time
 
-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.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from launch_testing.actions import ReadyToTest
 
 import launch_testing.markers
 import rclpy
+import launch_ros.actions
 from rclpy.node import Node
 
 
 # Executes the given launch file and checks if all nodes can be started
 @pytest.mark.launch_test
 def generate_test_description():
 
- launch_include = IncludeLaunchDescription(
- PythonLaunchDescriptionSource(
- os.path.join(
- get_package_share_directory("controller_manager"),
- "../../test/cm.launch.py",
- )
- ),
+ robot_controllers = PathJoinSubstitution(
+ [
+ FindPackageShare("controller_manager"),
+ "test",
+ "test_ros2_control_node.yaml",
+ ]
  )
 
- return LaunchDescription([launch_include, ReadyToTest()])
+ control_node = launch_ros.actions.Node(
+ package="controller_manager",
+ executable="ros2_control_node",
+ parameters=[robot_controllers],
+ output="both",
+ )
+
+ return LaunchDescription([control_node, ReadyToTest()])
 
 
 # This is our test fixture. Each method is a test case.