Add a pytest launch file to test ros2_control_node

controller_manager/CMakeLists.txt

@@ -209,6 +209,11 @@ if(BUILD_TESTING)
  ament_target_dependencies(test_hardware_management_srvs
  controller_manager_msgs
  )
+
+ find_package(ament_cmake_pytest REQUIRED)
+ install(FILES test/test_ros2_control_node.yaml test/cm.launch.py
+ DESTINATION test)
+ ament_add_pytest_test(test_ros2_control_node test/test_ros2_control_node_launch.py)
 endif()
 
 install(

controller_manager/package.xml

@@ -30,6 +30,7 @@
  <depend>std_msgs</depend>
 
  <test_depend>ament_cmake_gmock</test_depend>
+ <test_depend>ament_cmake_pytest</test_depend>
  <test_depend>hardware_interface_testing</test_depend>
  <test_depend>ros2_control_test_assets</test_depend>
 

controller_manager/test/cm.launch.py

@@ -0,0 +1,45 @@
+# 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)

controller_manager/test/test_ros2_control_node.yaml

@@ -0,0 +1,11 @@
+controller_manager:
+ ros__parameters:
+ update_rate: 100 # Hz
+
+ctrl_with_parameters_and_type:
+ ros__parameters:
+ type: "controller_manager/test_controller"
+ joint_names: ["joint0"]
+
+joint_state_broadcaster:
+ type: joint_state_broadcaster/JointStateBroadcaster

controller_manager/test/test_ros2_control_node_launch.py

@@ -0,0 +1,90 @@
+# 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 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_testing.actions import ReadyToTest
+
+import launch_testing.markers
+import rclpy
+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",
+ )
+ ),
+ )
+
+ return LaunchDescription([launch_include, ReadyToTest()])
+
+
+# This is our test fixture. Each method is a test case.
+# These run alongside the processes specified in generate_test_description()
+class TestFixture(unittest.TestCase):
+
+ def setUp(self):
+ rclpy.init()
+ self.node = Node("test_node")
+
+ def tearDown(self):
+ self.node.destroy_node()
+ rclpy.shutdown()
+
+ def test_node_start(self):
+ start = time.time()
+ found = False
+ while time.time() - start < 2.0 and not found:
+ found = "controller_manager" in self.node.get_node_names()
+ time.sleep(0.1)
+ assert found, "controller_manager not found!"
+
+
+@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)