Add pytest for descriptions

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})

example_1/package.xml

@@ -33,7 +33,11 @@
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>liburdfdom-tools</test_depend>
+  <test_depend>xacro</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

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()

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()])

example_10/CMakeLists.txt

@@ -67,6 +67,10 @@ install(
   DIRECTORY bringup/launch bringup/config
   DESTINATION share/ros2_control_demo_example_10
 )
+install(
+  DIRECTORY test
+  DESTINATION share/ros2_control_demo_example_10
+)
 install(TARGETS ros2_control_demo_example_10
   EXPORT export_ros2_control_demo_example_10
   ARCHIVE DESTINATION lib
@@ -75,7 +79,10 @@ 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

example_10/package.xml

@@ -33,6 +33,11 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>liburdfdom-tools</test_depend>
+  <test_depend>xacro</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

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()

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()])

example_12/CMakeLists.txt

@@ -83,6 +83,10 @@ install(
   DIRECTORY bringup/launch bringup/config
   DESTINATION share/ros2_control_demo_example_12
 )
+install(
+  DIRECTORY test
+  DESTINATION share/ros2_control_demo_example_12
+)
 install(TARGETS ros2_control_demo_example_12
   EXPORT export_ros2_control_demo_example_12
   ARCHIVE DESTINATION lib
@@ -105,7 +109,10 @@ 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

example_12/package.xml

@@ -29,12 +29,18 @@
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>ros2_control_demo_description</exec_depend>
   <exec_depend>ros2_controllers_test_nodes</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>liburdfdom-tools</test_depend>
+  <test_depend>xacro</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>