Feature/launch testing (kroshu#43)

* ci tests for iisy

* fix rviz config files

* add test launch files

* add test_depend

* launch_ros dep

---------

Co-authored-by: Aron Svastits <[email protected]>

kuka_agilus_support/CMakeLists.txt

@@ -9,4 +9,9 @@ find_package(xacro REQUIRED)
 install(DIRECTORY config launch meshes urdf
   DESTINATION share/${PROJECT_NAME})
 
+if(BUILD_TESTING)
+  find_package(launch_testing_ament_cmake)
+  add_launch_test(test/test_kr_agilus.py)
+endif()
+
 ament_package()

kuka_agilus_support/package.xml

@@ -34,21 +34,21 @@
   <author>G.A. vd. Hoorn (TU Delft Robotics Institute)</author>
   <author>Brett Hemes (3M)</author>
   <maintainer email="[email protected]">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
-  <maintainer email="antal.marci@gmail.com">Marton Antal</maintainer>
+  <maintainer email="svastits1@gmail.com">Áron Svastits</maintainer>
   <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
 
   <depend>xacro</depend>
+  <depend>launch_ros</depend>
 
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>kuka_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
 
+  <test_depend>launch_testing_ament_cmake</test_depend>
+
   <export>
     <architecture_independent/>
     <build_type>ament_cmake</build_type>

kuka_agilus_support/test/test_kr_agilus.py

@@ -0,0 +1,55 @@
+# Copyright 2024 Áron Svastits
+#
+# 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.
+
+import unittest
+
+import launch
+import launch.actions
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+import os
+
+from launch.launch_description_sources.python_launch_description_source import PythonLaunchDescriptionSource  # noqa: E501
+from launch.actions.include_launch_description import IncludeLaunchDescription
+from ament_index_python.packages import get_package_share_directory
+
+
+def list_test_launch_files():
+    files = [f for f in os.listdir(get_package_share_directory(
+        'kuka_agilus_support')+'/launch/') if f.endswith('.py')]
+    return files
+
+
+# Launch all of the robot visualisation launch files one by one
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+@launch_testing.parametrize('test_file', list_test_launch_files())
+def generate_test_description(test_file):
+    list_test_launch_files()
+    return launch.LaunchDescription([
+        IncludeLaunchDescription(PythonLaunchDescriptionSource(
+            [get_package_share_directory('kuka_agilus_support'),
+             '/launch/', test_file])),
+        launch_testing.actions.ReadyToTest()
+    ])
+
+
+class TestModels(unittest.TestCase):
+
+    def test_read_stdout(self, proc_output):
+        # Check for frames defined by ROS-Industrial
+        proc_output.assertWaitFor('got segment base', timeout=5)
+        proc_output.assertWaitFor('got segment flange', timeout=5)
+        proc_output.assertWaitFor('got segment tool0', timeout=5)

kuka_cybertech_support/CMakeLists.txt

@@ -9,4 +9,9 @@ find_package(xacro REQUIRED)
 install(DIRECTORY config launch meshes urdf
   DESTINATION share/${PROJECT_NAME})
 
+if(BUILD_TESTING)
+  find_package(launch_testing_ament_cmake)
+  add_launch_test(test/test_kr_cybertech.py)
+endif()
+
 ament_package()

kuka_cybertech_support/package.xml

@@ -8,17 +8,17 @@
   <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
 
   <depend>xacro</depend>
+  <depend>launch_ros</depend>
 
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>kuka_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
 
+  <test_depend>launch_testing_ament_cmake</test_depend>
+
   <export>
     <architecture_independent/>
     <build_type>ament_cmake</build_type>

kuka_cybertech_support/test/test_kr_cybertech.py

@@ -0,0 +1,55 @@
+# Copyright 2024 Áron Svastits
+#
+# 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.
+
+import unittest
+
+import launch
+import launch.actions
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+import os
+
+from launch.launch_description_sources.python_launch_description_source import PythonLaunchDescriptionSource  # noqa: E501
+from launch.actions.include_launch_description import IncludeLaunchDescription
+from ament_index_python.packages import get_package_share_directory
+
+
+def list_test_launch_files():
+    files = [f for f in os.listdir(get_package_share_directory(
+        'kuka_cybertech_support')+'/launch/') if f.endswith('.py')]
+    return files
+
+
+# Launch all of the robot visualisation launch files one by one
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+@launch_testing.parametrize('test_file', list_test_launch_files())
+def generate_test_description(test_file):
+    list_test_launch_files()
+    return launch.LaunchDescription([
+        IncludeLaunchDescription(PythonLaunchDescriptionSource(
+            [get_package_share_directory('kuka_cybertech_support'),
+             '/launch/', test_file])),
+        launch_testing.actions.ReadyToTest()
+    ])
+
+
+class TestModels(unittest.TestCase):
+
+    def test_read_stdout(self, proc_output):
+        # Check for frames defined by ROS-Industrial
+        proc_output.assertWaitFor('got segment base', timeout=5)
+        proc_output.assertWaitFor('got segment flange', timeout=5)
+        proc_output.assertWaitFor('got segment tool0', timeout=5)

kuka_lbr_iisy_support/CMakeLists.txt

@@ -6,9 +6,13 @@ find_package(ament_cmake REQUIRED)
 find_package(urdf REQUIRED)
 find_package(xacro REQUIRED)
 
-#xacro_add_files(TARGET xacro urdf/lbr_iisy3_r760.urdf.xacro OUTPUT lbr_iisy3_r760.urdf INSTALL DESTINATION urdf)
-
 install(DIRECTORY launch meshes urdf config
   DESTINATION share/${PROJECT_NAME})
 
+
+if(BUILD_TESTING)
+  find_package(launch_testing_ament_cmake)
+  add_launch_test(test/test_lbr_iisy.py)
+endif()
+
 ament_package()

kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py

@@ -17,10 +17,6 @@
 from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 from launch_ros.actions import Node
-import xacro
-import os
-from ament_index_python.packages import get_package_share_directory
-
 
 def generate_launch_description():
 
@@ -36,7 +32,6 @@ def generate_launch_description():
             "use_fake_hardware:=true",
         ]
     )
-    # robot_description_content = xacro.process_file(os.path.join(get_package_share_directory('kuka_lbr_iisy_support'), 'urdf', 'lbr_iisy3_r760.urdf.xacro'))
 
     robot_description = {'robot_description': robot_description_content}
 

kuka_lbr_iisy_support/package.xml

@@ -4,20 +4,21 @@
   <version>0.1.0</version>
   <description>Package containing models of KUKA LBR iisy family</description>
   <author>Aron Svastits</author>
-  <maintainer email="[email protected]"></maintainer>
+  <maintainer email="[email protected]">Áron Svastits</maintainer>
   <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
 
   <depend>xacro</depend>
+  <depend>launch_ros</depend>
 
   <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>kuka_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
 
+  <test_depend>launch_testing_ament_cmake</test_depend>
+
   <export>
     <architecture_independent/>
     <build_type>ament_cmake</build_type>

kuka_lbr_iisy_support/test/test_lbr_iisy.py

@@ -0,0 +1,55 @@
+# Copyright 2024 Áron Svastits
+#
+# 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.
+
+import unittest
+
+import launch
+import launch.actions
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+import os
+
+from launch.launch_description_sources.python_launch_description_source import PythonLaunchDescriptionSource  # noqa: E501
+from launch.actions.include_launch_description import IncludeLaunchDescription
+from ament_index_python.packages import get_package_share_directory
+
+
+def list_test_launch_files():
+    files = [f for f in os.listdir(get_package_share_directory(
+        'kuka_lbr_iisy_support')+'/launch/') if f.endswith('.py')]
+    return files
+
+
+# Launch all of the robot visualisation launch files one by one
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+@launch_testing.parametrize('test_file', list_test_launch_files())
+def generate_test_description(test_file):
+    list_test_launch_files()
+    return launch.LaunchDescription([
+        IncludeLaunchDescription(PythonLaunchDescriptionSource(
+            [get_package_share_directory('kuka_lbr_iisy_support'),
+             '/launch/', test_file])),
+        launch_testing.actions.ReadyToTest()
+    ])
+
+
+class TestModels(unittest.TestCase):
+
+    def test_read_stdout(self, proc_output):
+        # Check for frames defined by ROS-Industrial
+        proc_output.assertWaitFor('got segment base', timeout=5)
+        proc_output.assertWaitFor('got segment flange', timeout=5)
+        proc_output.assertWaitFor('got segment tool0', timeout=5)

kuka_lbr_iiwa_support/CMakeLists.txt

@@ -1,39 +1,17 @@
 cmake_minimum_required(VERSION 3.5)
-project(kuka_lbr_iiwa_support)
-
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
+project(kuka_lbr_iiwa_support)
 
-# find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
+find_package(urdf REQUIRED)
+find_package(xacro REQUIRED)
 
-install(DIRECTORY launch urdf meshes config
-  DESTINATION share/${PROJECT_NAME}
-)
+install(DIRECTORY config launch meshes urdf
+  DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
+  find_package(launch_testing_ament_cmake)
+  add_launch_test(test/test_lbr_iiwa.py)
 endif()
 
 ament_package()

kuka_lbr_iiwa_support/package.xml

@@ -9,10 +9,18 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <depend>xacro</depend>
+  <depend>launch_ros</depend>
+
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>kuka_resources</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+
+  <test_depend>launch_testing_ament_cmake</test_depend>
 
   <export>
+    <architecture_independent/>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>