diff --git a/example_1/CMakeLists.txt b/example_1/CMakeLists.txt index ef7ca3ecd..3ceb77a8c 100644 --- a/example_1/CMakeLists.txt +++ b/example_1/CMakeLists.txt @@ -56,6 +56,10 @@ install( DIRECTORY bringup/launch bringup/config DESTINATION share/ros2_control_demo_example_1 ) +install( + DIRECTORY test + DESTINATION share/ros2_control_demo_example_1 +) install(TARGETS ros2_control_demo_example_1 EXPORT export_ros2_control_demo_example_1 ARCHIVE DESTINATION lib @@ -64,9 +68,13 @@ install(TARGETS ros2_control_demo_example_1 ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + + ament_add_pytest_test(example_1_urdf_xacro test/test_urdf_xacro.py) + ament_add_pytest_test(view_example_1_launch test/test_view_robot_launch.py) endif() + ## EXPORTS ament_export_targets(export_ros2_control_demo_example_1 HAS_LIBRARY_TARGET) ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) diff --git a/example_1/package.xml b/example_1/package.xml index 8513ca3ee..141351687 100644 --- a/example_1/package.xml +++ b/example_1/package.xml @@ -33,7 +33,11 @@ rviz2 xacro - ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_1/test/test_urdf_xacro.py b/example_1/test/test_urdf_xacro.py new file mode 100644 index 000000000..03d9a5a3c --- /dev/null +++ b/example_1/test/test_urdf_xacro.py @@ -0,0 +1,77 @@ +# Copyright (c) 2022 FZI Forschungszentrum Informatik +# +# 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: Lukas Sackewitz + +import os +import shutil +import subprocess +import tempfile + +from ament_index_python.packages import get_package_share_directory + + +def test_urdf_xacro(): + # General Arguments + description_package = "ros2_control_demo_example_1" + description_file = "rrbot.urdf.xacro" + + description_file_path = os.path.join( + get_package_share_directory(description_package), "urdf", description_file + ) + + (_, tmp_urdf_output_file) = tempfile.mkstemp(suffix=".urdf") + + # Compose `xacro` and `check_urdf` command + xacro_command = ( + f"{shutil.which('xacro')}" f" {description_file_path}" f" > {tmp_urdf_output_file}" + ) + check_urdf_command = f"{shutil.which('check_urdf')} {tmp_urdf_output_file}" + + # Try to call processes but finally remove the temp file + try: + xacro_process = subprocess.run( + xacro_command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True + ) + + assert xacro_process.returncode == 0, " --- XACRO command failed ---" + + check_urdf_process = subprocess.run( + check_urdf_command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True + ) + + assert ( + check_urdf_process.returncode == 0 + ), "\n --- URDF check failed! --- \nYour xacro does not unfold into a proper urdf robot description. Please check your xacro file." + + finally: + os.remove(tmp_urdf_output_file) + + +if __name__ == "__main__": + test_urdf_xacro() diff --git a/example_1/test/test_view_robot_launch.py b/example_1/test/test_view_robot_launch.py new file mode 100644 index 000000000..3fc5818b4 --- /dev/null +++ b/example_1/test/test_view_robot_launch.py @@ -0,0 +1,54 @@ +# Copyright (c) 2022 FZI Forschungszentrum Informatik +# +# 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: Lukas Sackewitz + +import os +import pytest + +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 + + +# 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"), + "description/launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()])