Use test_utils from controller_manager package (#673)

ros-controls · Jan 20, 2025 · 201b673 · 201b673
1 parent 81de76e
commit 201b673
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Showing 38 changed files with 32 additions and 212 deletions.
diff --git a/example_1/package.xml b/example_1/package.xml
@@ -35,9 +35,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_1/test/test_rrbot_launch.py b/example_1/test/test_rrbot_launch.py
@@ -41,7 +41,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_1/test/test_rrbot_launch_cli_direct.py b/example_1/test/test_rrbot_launch_cli_direct.py
@@ -41,7 +41,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import check_controllers_running
+from controller_manager.test_utils import check_controllers_running
 
 
 # Executes the given launch file and checks if all nodes can be started

diff --git a/example_10/package.xml b/example_10/package.xml
@@ -34,9 +34,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_10/test/test_rrbot_launch.py b/example_10/test/test_rrbot_launch.py
@@ -39,7 +39,7 @@
 from launch_testing.actions import ReadyToTest
 
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_11/package.xml b/example_11/package.xml
@@ -33,9 +33,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_11/test/test_carlikebot_launch.py b/example_11/test/test_carlikebot_launch.py
@@ -41,7 +41,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_12/package.xml b/example_12/package.xml
@@ -35,9 +35,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_12/test/test_rrbot_launch.py b/example_12/test/test_rrbot_launch.py
@@ -41,7 +41,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_13/package.xml b/example_13/package.xml
@@ -32,13 +32,13 @@
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_ros</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>rclpy</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_13/test/test_three_robots_launch.py b/example_13/test/test_three_robots_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_14/package.xml b/example_14/package.xml
@@ -32,9 +32,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/...est/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py b/...est/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_15/package.xml b/example_15/package.xml
@@ -30,9 +30,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_15/test/test_multi_controller_manager_launch.py b/example_15/test/test_multi_controller_manager_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_15/test/test_rrbot_namespace_launch.py b/example_15/test/test_rrbot_namespace_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_2/package.xml b/example_2/package.xml
@@ -34,9 +34,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_2/test/test_diffbot_launch.py b/example_2/test/test_diffbot_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_3/package.xml b/example_3/package.xml
@@ -34,9 +34,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_3/test/test_rrbot_system_multi_interface_launch.py b/example_3/test/test_rrbot_system_multi_interface_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_4/package.xml b/example_4/package.xml
@@ -33,9 +33,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_4/test/test_rrbot_system_with_sensor_launch.py b/example_4/test/test_rrbot_system_with_sensor_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_5/package.xml b/example_5/package.xml
@@ -33,9 +33,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_5/test/test_rrbot_system_with_external_sensor_launch.py b/example_5/test/test_rrbot_system_with_external_sensor_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_6/package.xml b/example_6/package.xml
@@ -32,9 +32,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_6/test/test_rrbot_modular_actuators_launch.py b/example_6/test/test_rrbot_modular_actuators_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_7/package.xml b/example_7/package.xml
@@ -41,9 +41,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_7/test/test_r6bot_controller_launch.py b/example_7/test/test_r6bot_controller_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_8/package.xml b/example_8/package.xml
@@ -35,9 +35,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_8/test/test_rrbot_transmissions_system_position_only_launch.py b/example_8/test/test_rrbot_transmissions_system_position_only_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/example_9/package.xml b/example_9/package.xml
@@ -37,9 +37,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>controller_manager</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

diff --git a/example_9/test/test_rrbot_launch.py b/example_9/test/test_rrbot_launch.py
@@ -40,7 +40,7 @@
 
 # import launch_testing.markers
 import rclpy
-from ros2_control_demo_testing.test_utils import (
+from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,

diff --git a/ros2_control_demo_testing/package.xml b/ros2_control_demo_testing/package.xml
diff --git a/ros2_control_demo_testing/resource/ros2_control_demo_testing b/ros2_control_demo_testing/resource/ros2_control_demo_testing
diff --git a/ros2_control_demo_testing/ros2_control_demo_testing/__init__.py b/ros2_control_demo_testing/ros2_control_demo_testing/__init__.py