diff --git a/example_1/CMakeLists.txt b/example_1/CMakeLists.txt index ef7ca3ecd..12496b88c 100644 --- a/example_1/CMakeLists.txt +++ b/example_1/CMakeLists.txt @@ -64,9 +64,13 @@ 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..62cf83e68 --- /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"), + "launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()]) diff --git a/example_10/CMakeLists.txt b/example_10/CMakeLists.txt index e2e4dd0d1..1b9079345 100644 --- a/example_10/CMakeLists.txt +++ b/example_10/CMakeLists.txt @@ -75,7 +75,10 @@ install(TARGETS ros2_control_demo_example_10 ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + + ament_add_pytest_test(example_10_urdf_xacro test/test_urdf_xacro.py) + ament_add_pytest_test(view_example_10_launch test/test_view_robot_launch.py) endif() ## EXPORTS diff --git a/example_10/package.xml b/example_10/package.xml index d1a211eb7..e94c0a1e2 100644 --- a/example_10/package.xml +++ b/example_10/package.xml @@ -33,6 +33,11 @@ xacro ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_10/test/test_urdf_xacro.py b/example_10/test/test_urdf_xacro.py new file mode 100644 index 000000000..cc483532a --- /dev/null +++ b/example_10/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_10" + 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_10/test/test_view_robot_launch.py b/example_10/test/test_view_robot_launch.py new file mode 100644 index 000000000..a2c067d31 --- /dev/null +++ b/example_10/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_10"), + "launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()]) diff --git a/example_12/CMakeLists.txt b/example_12/CMakeLists.txt index 63a2474bd..b5e6a53c5 100644 --- a/example_12/CMakeLists.txt +++ b/example_12/CMakeLists.txt @@ -105,7 +105,10 @@ install(TARGETS ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + + ament_add_pytest_test(example_12_urdf_xacro test/test_urdf_xacro.py) + ament_add_pytest_test(view_example_12_launch test/test_view_robot_launch.py) endif() ## EXPORTS diff --git a/example_12/package.xml b/example_12/package.xml index 4bd54219f..d14418cd9 100644 --- a/example_12/package.xml +++ b/example_12/package.xml @@ -29,12 +29,18 @@ joint_state_publisher_gui joint_trajectory_controller robot_state_publisher + ros2_control_demo_description ros2_controllers_test_nodes ros2controlcli rviz2 xacro ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_12/test/test_urdf_xacro.py b/example_12/test/test_urdf_xacro.py new file mode 100644 index 000000000..1f9f486d4 --- /dev/null +++ b/example_12/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_12" + 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_12/test/test_view_robot_launch.py b/example_12/test/test_view_robot_launch.py new file mode 100644 index 000000000..7861b479a --- /dev/null +++ b/example_12/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_12"), + "launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()]) diff --git a/example_14/package.xml b/example_14/package.xml index 2ec771b44..3b52728ab 100644 --- a/example_14/package.xml +++ b/example_14/package.xml @@ -31,6 +31,11 @@ xacro ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_14/test/test_urdf_xacro.py b/example_14/test/test_urdf_xacro.py new file mode 100644 index 000000000..60d784a7e --- /dev/null +++ b/example_14/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_14" + 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_14/test/test_view_robot_launch.py b/example_14/test/test_view_robot_launch.py new file mode 100644 index 000000000..2f8e7a5ff --- /dev/null +++ b/example_14/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_14"), + "launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()]) diff --git a/example_2/CMakeLists.txt b/example_2/CMakeLists.txt index 1c06f9166..cd19457e6 100644 --- a/example_2/CMakeLists.txt +++ b/example_2/CMakeLists.txt @@ -64,7 +64,10 @@ install(TARGETS ros2_control_demo_example_2 ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + + ament_add_pytest_test(example_2_urdf_xacro test/test_urdf_xacro.py) + ament_add_pytest_test(view_example_2_launch test/test_view_robot_launch.py) endif() ## EXPORTS diff --git a/example_2/package.xml b/example_2/package.xml index ce70fa0b5..ef767ca3f 100644 --- a/example_2/package.xml +++ b/example_2/package.xml @@ -33,6 +33,11 @@ xacro ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_2/test/test_urdf_xacro.py b/example_2/test/test_urdf_xacro.py new file mode 100644 index 000000000..205e2635d --- /dev/null +++ b/example_2/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_2" + description_file = "diffbot.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_2/test/test_view_robot_launch.py b/example_2/test/test_view_robot_launch.py new file mode 100644 index 000000000..7b835cc30 --- /dev/null +++ b/example_2/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_2"), + "launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()]) diff --git a/example_3/CMakeLists.txt b/example_3/CMakeLists.txt index 55751e921..a48a3121f 100644 --- a/example_3/CMakeLists.txt +++ b/example_3/CMakeLists.txt @@ -64,7 +64,10 @@ install(TARGETS ros2_control_demo_example_3 ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + + ament_add_pytest_test(example_3_urdf_xacro test/test_urdf_xacro.py) + ament_add_pytest_test(view_example_3_launch test/test_view_robot_launch.py) endif() ## EXPORTS diff --git a/example_3/package.xml b/example_3/package.xml index cb613e306..3c0a21687 100644 --- a/example_3/package.xml +++ b/example_3/package.xml @@ -31,6 +31,11 @@ xacro ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_3/test/test_urdf_xacro.py b/example_3/test/test_urdf_xacro.py new file mode 100644 index 000000000..d0cf5f2ec --- /dev/null +++ b/example_3/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_3" + description_file = "rrbot_system_multi_interface.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_3/test/test_view_robot_launch.py b/example_3/test/test_view_robot_launch.py new file mode 100644 index 000000000..7cc6ebf5c --- /dev/null +++ b/example_3/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_3"), + "launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()]) diff --git a/example_4/CMakeLists.txt b/example_4/CMakeLists.txt index a56179387..b79f1e706 100644 --- a/example_4/CMakeLists.txt +++ b/example_4/CMakeLists.txt @@ -64,7 +64,10 @@ install(TARGETS ros2_control_demo_example_4 ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + + ament_add_pytest_test(example_4_urdf_xacro test/test_urdf_xacro.py) + ament_add_pytest_test(view_example_4_launch test/test_view_robot_launch.py) endif() ## EXPORTS diff --git a/example_4/package.xml b/example_4/package.xml index 28eb1c63a..7ff6a1c2e 100644 --- a/example_4/package.xml +++ b/example_4/package.xml @@ -31,6 +31,11 @@ xacro ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_4/test/test_urdf_xacro.py b/example_4/test/test_urdf_xacro.py new file mode 100644 index 000000000..275b85437 --- /dev/null +++ b/example_4/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_4" + description_file = "rrbot_system_with_sensor.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_4/test/test_view_robot_launch.py b/example_4/test/test_view_robot_launch.py new file mode 100644 index 000000000..8c2f81639 --- /dev/null +++ b/example_4/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_4"), + "launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()]) diff --git a/example_5/CMakeLists.txt b/example_5/CMakeLists.txt index 37fd35bbc..1eaa37ebd 100644 --- a/example_5/CMakeLists.txt +++ b/example_5/CMakeLists.txt @@ -65,7 +65,10 @@ install(TARGETS ros2_control_demo_example_5 ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + + ament_add_pytest_test(example_5_urdf_xacro test/test_urdf_xacro.py) + ament_add_pytest_test(view_example_5_launch test/test_view_robot_launch.py) endif() ## EXPORTS diff --git a/example_5/package.xml b/example_5/package.xml index 062ff58d8..e22bf795f 100644 --- a/example_5/package.xml +++ b/example_5/package.xml @@ -31,6 +31,11 @@ xacro ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_5/test/test_urdf_xacro.py b/example_5/test/test_urdf_xacro.py new file mode 100644 index 000000000..85fd2c475 --- /dev/null +++ b/example_5/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_5" + description_file = "rrbot_system_with_external_sensor.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_5/test/test_view_robot_launch.py b/example_5/test/test_view_robot_launch.py new file mode 100644 index 000000000..60667e710 --- /dev/null +++ b/example_5/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_5"), + "launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()]) diff --git a/example_6/CMakeLists.txt b/example_6/CMakeLists.txt index 4ed33d331..3ac52862d 100644 --- a/example_6/CMakeLists.txt +++ b/example_6/CMakeLists.txt @@ -64,7 +64,10 @@ install(TARGETS ros2_control_demo_example_6 ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + + ament_add_pytest_test(example_6_urdf_xacro test/test_urdf_xacro.py) + ament_add_pytest_test(view_example_6_launch test/test_view_robot_launch.py) endif() ## EXPORTS diff --git a/example_6/package.xml b/example_6/package.xml index 1b89e08a2..856970fef 100644 --- a/example_6/package.xml +++ b/example_6/package.xml @@ -31,6 +31,11 @@ xacro ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_6/test/test_urdf_xacro.py b/example_6/test/test_urdf_xacro.py new file mode 100644 index 000000000..ac2703a07 --- /dev/null +++ b/example_6/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_6" + description_file = "rrbot_modular_actuators.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_6/test/test_view_robot_launch.py b/example_6/test/test_view_robot_launch.py new file mode 100644 index 000000000..dc64aeeb3 --- /dev/null +++ b/example_6/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_6"), + "launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()]) diff --git a/example_7/CMakeLists.txt b/example_7/CMakeLists.txt index 713b6ef6a..16231d836 100644 --- a/example_7/CMakeLists.txt +++ b/example_7/CMakeLists.txt @@ -86,7 +86,6 @@ install( DIRECTORY bringup/launch bringup/config DESTINATION share/ros2_control_demo_example_7 ) - install( TARGETS send_trajectory RUNTIME DESTINATION lib/ros2_control_demo_example_7 @@ -100,7 +99,10 @@ install(TARGETS ros2_control_demo_example_7 ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + + ament_add_pytest_test(example_7_urdf_xacro test/test_urdf_xacro.py) + ament_add_pytest_test(view_example_7_launch test/test_view_robot_launch.py) endif() ## EXPORTS diff --git a/example_7/package.xml b/example_7/package.xml index 5f7703191..9bd69814b 100644 --- a/example_7/package.xml +++ b/example_7/package.xml @@ -40,6 +40,11 @@ xacro ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_7/test/test_urdf_xacro.py b/example_7/test/test_urdf_xacro.py new file mode 100644 index 000000000..5be2e3cf3 --- /dev/null +++ b/example_7/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_7" + description_file = "r6bot.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_7/test/test_view_robot_launch.py b/example_7/test/test_view_robot_launch.py new file mode 100644 index 000000000..db1de3916 --- /dev/null +++ b/example_7/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_7"), + "launch/view_r6bot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()]) diff --git a/example_8/CMakeLists.txt b/example_8/CMakeLists.txt index 2ce4b3ed2..3b7688b9d 100644 --- a/example_8/CMakeLists.txt +++ b/example_8/CMakeLists.txt @@ -65,7 +65,10 @@ install(TARGETS ros2_control_demo_example_8 ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + + ament_add_pytest_test(example_8_urdf_xacro test/test_urdf_xacro.py) + ament_add_pytest_test(view_example_8_launch test/test_view_robot_launch.py) endif() ## EXPORTS diff --git a/example_8/package.xml b/example_8/package.xml index e1d5e47da..275fc4aaa 100644 --- a/example_8/package.xml +++ b/example_8/package.xml @@ -34,6 +34,11 @@ xacro ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_8/test/test_urdf_xacro.py b/example_8/test/test_urdf_xacro.py new file mode 100644 index 000000000..7c09c0def --- /dev/null +++ b/example_8/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_8" + description_file = "rrbot_transmissions_system_position_only.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_8/test/test_view_robot_launch.py b/example_8/test/test_view_robot_launch.py new file mode 100644 index 000000000..12a097424 --- /dev/null +++ b/example_8/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_8"), + "launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()]) diff --git a/example_9/CMakeLists.txt b/example_9/CMakeLists.txt index c0ce90a5e..1c6980484 100644 --- a/example_9/CMakeLists.txt +++ b/example_9/CMakeLists.txt @@ -64,7 +64,10 @@ install(TARGETS ros2_control_demo_example_9 ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + + ament_add_pytest_test(example_9_urdf_xacro test/test_urdf_xacro.py) + ament_add_pytest_test(view_example_9_launch test/test_view_robot_launch.py) endif() ## EXPORTS diff --git a/example_9/package.xml b/example_9/package.xml index cc7f7fc90..580b31746 100644 --- a/example_9/package.xml +++ b/example_9/package.xml @@ -36,6 +36,11 @@ xacro ament_cmake_gtest + ament_cmake_pytest + launch_testing_ament_cmake + launch_testing_ros + liburdfdom-tools + xacro ament_cmake diff --git a/example_9/test/test_urdf_xacro.py b/example_9/test/test_urdf_xacro.py new file mode 100644 index 000000000..a0ba60d90 --- /dev/null +++ b/example_9/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_9" + 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_9/test/test_view_robot_launch.py b/example_9/test/test_view_robot_launch.py new file mode 100644 index 000000000..7ca47c9b7 --- /dev/null +++ b/example_9/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_9"), + "launch/view_robot.launch.py", + ) + ), + launch_arguments={"gui": "true"}.items(), + ) + + return LaunchDescription([launch_include, ReadyToTest()])