From f3d69c85409fdcfee714a140de63321896da1d5f Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 22 Jul 2024 15:54:35 +0000
Subject: [PATCH] Remove separate test launch file

---
 controller_manager/CMakeLists.txt             |  2 +-
 controller_manager/test/cm.launch.py          | 45 -------------------
 .../test/test_ros2_control_node_launch.py     | 29 +++++++-----
 3 files changed, 18 insertions(+), 58 deletions(-)
 delete mode 100644 controller_manager/test/cm.launch.py

diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index 3f54baf732..c4ef0e7df0 100644
--- a/controller_manager/CMakeLists.txt
+++ b/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()
diff --git a/controller_manager/test/cm.launch.py b/controller_manager/test/cm.launch.py
deleted file mode 100644
index 24364a859f..0000000000
--- a/controller_manager/test/cm.launch.py
+++ /dev/null
@@ -1,45 +0,0 @@
-# Copyright (c) 2024 AIT - Austrian Institute of Technology GmbH
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-
-from launch import LaunchDescription
-from launch.substitutions import PathJoinSubstitution
-
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-
-
-def generate_launch_description():
-    # Declare arguments
-    declared_arguments = []
-
-    robot_controllers = PathJoinSubstitution(
-        [
-            FindPackageShare("controller_manager"),
-            "test",
-            "test_ros2_control_node.yaml",
-        ]
-    )
-
-    control_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
-        parameters=[robot_controllers],
-        output="both",
-    )
-    nodes = [
-        control_node,
-    ]
-
-    return LaunchDescription(declared_arguments + nodes)
diff --git a/controller_manager/test/test_ros2_control_node_launch.py b/controller_manager/test/test_ros2_control_node_launch.py
index 1795f4a0cd..c8c1136849 100644
--- a/controller_manager/test/test_ros2_control_node_launch.py
+++ b/controller_manager/test/test_ros2_control_node_launch.py
@@ -28,19 +28,18 @@
 #
 # 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
 
 
@@ -48,16 +47,22 @@
 @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.