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Add launch tests #540

Merged
merged 38 commits into from
Jul 30, 2024
Merged

Add launch tests #540

merged 38 commits into from
Jul 30, 2024

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christophfroehlich
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@christophfroehlich christophfroehlich commented Jul 21, 2024 •
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The old tests only test the URDF and if the view_robot.launch.py doesn't have a python syntax error and launch_ros does not complain.

The new tests for the main launch file now also check

  • The python syntax is correct
  • robot_state_publisher node is available
  • the controller for this example is active
  • joint_states topic is available and has the correct joints

closes #422

Deactivated tests or other temporary measures: I'll push draft PRs after merging this to not forget that!

@christophfroehlich
Add test for ex1
bd4f1b4
@christophfroehlich
Add test for ex2
bbaed48
@christophfroehlich
Add test for ex3
79befb2
@christophfroehlich
Add test for ex4
8490cef
@christophfroehlich
Add missing dependency
230925e
@christophfroehlich
Deactivate GUI
c836932
@christophfroehlich
Add test for ex5
8bfd3e5
@christophfroehlich
Add act stuff to gitignore
5c42f35
@christophfroehlich
Deactivate gui in tests
c7521cc
@christophfroehlich
Reduce update rate to avoid clogging the log
10f2e22
@christophfroehlich
Use set instead of list
4f0418e
@christophfroehlich
Add test for ex6
71159ce
@christophfroehlich
Fix xacro macros and add gui launch argument
7699291
@christophfroehlich
Add test for example_7
213c369
@christophfroehlich
Add test for example_8
f0c836b
@christophfroehlich
Add test for example_9
e8c9ac2
@christophfroehlich
Add test for example_10
25486ba
@christophfroehlich
Add test for example_11
52e68c3
@christophfroehlich
Add test for example_12
7a15e44
@christophfroehlich
Add test for example_14
d13e2c0
@christophfroehlich
Update test for example_15
600edff
@christophfroehlich
Add test for example_15 multi_cm
9c76047
@christophfroehlich
Add missing dependency
b2d1eba
@christophfroehlich
Add missing dependency for ex4+ex5
f6103a5
@christophfroehlich
Robustify tests and reuse methos for launch_testing
090f00b
@christophfroehlich
Fix dependencies
fbe2096
@christophfroehlich christophfroehlich marked this pull request as ready for review July 29, 2024 09:54
This was referenced Jul 29, 2024
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saikishor
saikishor requested changes Jul 29, 2024
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Some minor comments
Overall it looks good! Amazing job. Thank you

...4/bringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml Show resolved Hide resolved
example_15/CMakeLists.txt Show resolved Hide resolved
example_3/bringup/config/rrbot_multi_interface_forward_controllers.yaml Show resolved Hide resolved
example_4/bringup/config/rrbot_with_sensor_controllers.yaml Show resolved Hide resolved
example_5/bringup/config/rrbot_with_external_sensor_controllers.yaml Show resolved Hide resolved
example_6/bringup/config/rrbot_modular_actuators.yaml Show resolved Hide resolved
ros2_control_demo_testing/package.xml Outdated Show resolved Hide resolved
@christophfroehlich @saikishor
Update ros2_control_demo_testing/package.xml
1351f95 
Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
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@saikishor I'll revert the changes to the cm update rate on top of #543, I fear that the high update rate will cause flaky tests without any log throttling.

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@saikishor I'll revert the changes to the cm update rate on top of #543, I fear that the high update rate will cause flaky tests without any log throttling.

Let's do that

@saikishor saikishor merged commit 0ba16d2 into master Jul 30, 2024
11 of 13 checks passed
@saikishor saikishor deleted the add_launch_tests branch July 30, 2024 07:14
mergify bot pushed a commit that referenced this pull request Jul 30, 2024
@christophfroehlich @mergify
Add launch tests to all examples (#540)
ea65f91 
* Add test for ex1

* Add test for ex2

* Add test for ex3

* Add test for ex4

* Add missing dependency

* Deactivate GUI

* Add test for ex5

* Add act stuff to gitignore

* Deactivate gui in tests

* Reduce update rate to avoid clogging the log

* Use set instead of list

* Add test for ex6

* Fix xacro macros and add gui launch argument

* Add test for example_7

* Add test for example_8

* Add test for example_9

* Add test for example_10

* Add test for example_11

* Add test for example_12

* Add test for example_14

* Update test for example_15

* Add test for example_15 multi_cm

* Add missing dependency

* Add missing dependency for ex4+ex5

* Robustify tests and reuse methos for launch_testing

* Fix dependencies

* Use a set to compare the joint names

* Reorder controller spawners

* Activate assertExitCodes tests

* Deactivate failing tests for example_15

* Increase timeout for example_10

* Add backward_ros everywhere

* Add error output and update includes

* Revert "Activate assertExitCodes tests"

This reverts commit fe28c67.

* Add missing import

* Update ros2_control_demo_testing/package.xml

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

* Reuse check_node_running

* Try to robustify example_14 tests

---------

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
(cherry picked from commit 0ba16d2)
mergify bot pushed a commit that referenced this pull request Jul 30, 2024
@christophfroehlich @mergify
Add launch tests to all examples (#540)
f838ebc 
* Add test for ex1

* Add test for ex2

* Add test for ex3

* Add test for ex4

* Add missing dependency

* Deactivate GUI

* Add test for ex5

* Add act stuff to gitignore

* Deactivate gui in tests

* Reduce update rate to avoid clogging the log

* Use set instead of list

* Add test for ex6

* Fix xacro macros and add gui launch argument

* Add test for example_7

* Add test for example_8

* Add test for example_9

* Add test for example_10

* Add test for example_11

* Add test for example_12

* Add test for example_14

* Update test for example_15

* Add test for example_15 multi_cm

* Add missing dependency

* Add missing dependency for ex4+ex5

* Robustify tests and reuse methos for launch_testing

* Fix dependencies

* Use a set to compare the joint names

* Reorder controller spawners

* Activate assertExitCodes tests

* Deactivate failing tests for example_15

* Increase timeout for example_10

* Add backward_ros everywhere

* Add error output and update includes

* Revert "Activate assertExitCodes tests"

This reverts commit fe28c67.

* Add missing import

* Update ros2_control_demo_testing/package.xml

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

* Reuse check_node_running

* Try to robustify example_14 tests

---------

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
(cherry picked from commit 0ba16d2)
This was referenced Jul 30, 2024
Merged
Merged
christophfroehlich added a commit that referenced this pull request Jul 30, 2024
@mergify @christophfroehlich
Add launch tests (backport #540) (#550)
5e600cf 
* Add launch tests to all examples (#540)

* Add test for ex1

* Add test for ex2

* Add test for ex3

* Add test for ex4

* Add missing dependency

* Deactivate GUI

* Add test for ex5

* Add act stuff to gitignore

* Deactivate gui in tests

* Reduce update rate to avoid clogging the log

* Use set instead of list

* Add test for ex6

* Fix xacro macros and add gui launch argument

* Add test for example_7

* Add test for example_8

* Add test for example_9

* Add test for example_10

* Add test for example_11

* Add test for example_12

* Add test for example_14

* Update test for example_15

* Add test for example_15 multi_cm

* Add missing dependency

* Add missing dependency for ex4+ex5

* Robustify tests and reuse methos for launch_testing

* Fix dependencies

* Use a set to compare the joint names

* Reorder controller spawners

* Activate assertExitCodes tests

* Deactivate failing tests for example_15

* Increase timeout for example_10

* Add backward_ros everywhere

* Add error output and update includes

* Revert "Activate assertExitCodes tests"

This reverts commit fe28c67.

* Add missing import

* Update ros2_control_demo_testing/package.xml

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

* Reuse check_node_running

* Try to robustify example_14 tests

---------

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
(cherry picked from commit 0ba16d2)

* Fix double quotes

---------

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
christophfroehlich added a commit that referenced this pull request Jul 31, 2024
@mergify @christophfroehlich
Add launch tests (backport #540) (#549)
dba4aa6 
* Add launch tests to all examples (#540)

* Add test for ex1

* Add test for ex2

* Add test for ex3

* Add test for ex4

* Add missing dependency

* Deactivate GUI

* Add test for ex5

* Add act stuff to gitignore

* Deactivate gui in tests

* Reduce update rate to avoid clogging the log

* Use set instead of list

* Add test for ex6

* Fix xacro macros and add gui launch argument

* Add test for example_7

* Add test for example_8

* Add test for example_9

* Add test for example_10

* Add test for example_11

* Add test for example_12

* Add test for example_14

* Update test for example_15

* Add test for example_15 multi_cm

* Add missing dependency

* Add missing dependency for ex4+ex5

* Robustify tests and reuse methos for launch_testing

* Fix dependencies

* Use a set to compare the joint names

* Reorder controller spawners

* Activate assertExitCodes tests

* Deactivate failing tests for example_15

* Increase timeout for example_10

* Add backward_ros everywhere

* Add error output and update includes

* Revert "Activate assertExitCodes tests"

This reverts commit fe28c67.

* Add missing import

* Update ros2_control_demo_testing/package.xml

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

* Reuse check_node_running

* Try to robustify example_14 tests

---------

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
(cherry picked from commit 0ba16d2)

* Fix double quotes

* Increase cm update rate to decrease startup time

* Remove startup delay marker

---------

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
@christophfroehlich christophfroehlich mentioned this pull request Aug 5, 2024
Merged
This was referenced Sep 29, 2024
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Add integration tests
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