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# 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 | ||
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import os | ||
import pytest | ||
import unittest | ||
import subprocess | ||
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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 | ||
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# import launch_testing.markers | ||
import rclpy | ||
from rclpy.node import Node | ||
from ros2_control_demo_testing.test_utils import check_controllers_running | ||
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# 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(), | ||
) | ||
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return LaunchDescription([launch_include, ReadyToTest()]) | ||
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class TestFixtureCliDirect(unittest.TestCase): | ||
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def setUp(self): | ||
rclpy.init() | ||
self.node = Node("test_node") | ||
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def tearDown(self): | ||
self.node.destroy_node() | ||
rclpy.shutdown() | ||
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def test_main(self, proc_output): | ||
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# Command to run the CLI | ||
cname = "joint_trajectory_position_controller" | ||
command = ["ros2", "control", "load_controller", "--set-state", "inactive", cname] | ||
subprocess.run(command, check=True) | ||
check_controllers_running(self.node, [cname], state="inactive") | ||
check_controllers_running(self.node, ["forward_position_controller"], state="active") | ||
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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") | ||
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# 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): | ||
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# def test_exit_codes(self, proc_info): | ||
# """Check if the processes exited normally.""" | ||
# launch_testing.asserts.assertExitCodes(proc_info) |
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