Moved examples (#324)

* Moved examples

Signed-off-by: Aditya Pande <[email protected]>

* Fixed test dependencies

Signed-off-by: Aditya Pande <[email protected]>

* Added README

Signed-off-by: Aditya Pande <[email protected]>

* Fixed package.xml, setup.py

Signed-off-by: Aditya Pande <[email protected]>

* Removed custom nodes

Signed-off-by: Aditya Pande <[email protected]>

* Changed email

Signed-off-by: Aditya Pande <[email protected]>

* Removed MakeTestNode class and added functions

Signed-off-by: Aditya Pande <[email protected]>

* Added test dependency

Signed-off-by: Aditya Pande <[email protected]>

launch_testing/launch_testing_examples/README.md

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+# Launch testing examples
+
+This package contains simple use cases for the ``launch`` and ``launch_testing`` packages.
+These are designed to help beginners get started with these packages and help them understand the concepts.
+
+## Examples
+
+### `check_node_launch_test.py`
+
+Usage:
+
+```sh
+launch_test launch_testing_examples/check_node_launch_test.py
+```
+
+There might be situations where nodes, once launched, take some time to actually start and we need to wait for the node to start to perform some action.
+We can simulate this using ``launch.actions.TimerAction``. This example shows one way to detect when a node has been launched.
+We delay the launch by 5 seconds, and wait for the node to start with a timeout of 8 seconds.
+
+### `check_msgs_launch_test.py`
+
+Usage:
+
+```sh
+launch_test launch_testing_examples/check_msgs_launch_test.py
+```
+
+Consider a problem statement where you need to launch a node and check if messages are published on a particular topic.
+This example demonstrates how to do that, using a talker node.
+It uses the ``Event`` object to end the test as soon as the first message is received on the chatter topic, with a timeout of 5 seconds.
+
+### `set_param_launch_test.py`
+
+Usage:
+
+```sh
+launch_test launch_testing_examples/set_param_launch_test.py
+```
+
+This example demonstrates how to launch a node, set a parameter in it and check if that was successful.
+
+### `hello_world_launch_test.py`
+
+Usage:
+
+```sh
+launch_test launch_testing_examples/hello_world_launch_test.py
+```
+
+This test is a simple example on how to use the ``launch_testing``. 
+
+It launches a process and asserts that it prints "hello_world" to ``stdout`` using ``proc_output.assertWaitFor()``.
+Finally, it checks if the process exits normally (zero exit code).
+
+The ``@launch_testing.markers.keep_alive`` decorator ensures that the launch process stays alive long enough for the tests to run.

launch_testing/launch_testing_examples/launch_testing_examples/check_msgs_launch_test.py

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+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+
+import launch
+import launch.actions
+import launch_ros.actions
+import launch_testing.actions
+import launch_testing.markers
+from launch_testing_ros import WaitForTopics
+import pytest
+from std_msgs.msg import String
+
+
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+def generate_test_description():
+    return launch.LaunchDescription([
+        launch_ros.actions.Node(
+            executable='talker',
+            package='demo_nodes_cpp',
+            name='demo_node_1'
+        ),
+        launch_testing.actions.ReadyToTest()
+    ])
+
+
+class TestFixture(unittest.TestCase):
+
+    def test_check_if_msgs_published(self):
+        with WaitForTopics([('chatter', String)], timeout=5.0):
+            print('Topic received messages !')

launch_testing/launch_testing_examples/launch_testing_examples/check_node_launch_test.py

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+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+import unittest
+
+import launch
+import launch.actions
+import launch_ros.actions
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+import rclpy
+from rclpy.node import Node
+
+
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+def generate_test_description():
+    return launch.LaunchDescription([
+        launch.actions.TimerAction(
+            period=5.0,
+            actions=[
+                launch_ros.actions.Node(
+                    executable='talker',
+                    package='demo_nodes_cpp',
+                    name='demo_node_1'
+                ),
+            ]),
+        launch_testing.actions.ReadyToTest()
+    ])
+
+
+class TestFixture(unittest.TestCase):
+
+    def test_node_start(self, proc_output):
+        rclpy.init()
+        node = Node('test_node')
+        assert wait_for_node(node, 'demo_node_1', 8.0), 'Node not found !'
+        rclpy.shutdown()
+
+
+def wait_for_node(dummy_node, node_name, timeout=8.0):
+    start = time.time()
+    flag = False
+    print('Waiting for node...')
+    while time.time() - start < timeout and not flag:
+        flag = node_name in dummy_node.get_node_names()
+        time.sleep(0.1)
+
+    return flag

launch_testing/launch_testing_examples/launch_testing_examples/hello_world_launch_test.py

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+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+
+import launch
+import launch.actions
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+
+
+# This function specifies the processes to be run for our test
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+def generate_test_description():
+    """Launch a simple process to print 'hello_world'."""
+    return launch.LaunchDescription([
+        # Launch a process to test
+        launch.actions.ExecuteProcess(
+            cmd=['echo', 'hello_world'],
+            shell=True
+        ),
+        # Tell launch to start the test
+        launch_testing.actions.ReadyToTest()
+    ])
+
+
+# This is our test fixture. Each method is a test case.
+# These run alongside the processes specified in generate_test_description()
+class TestHelloWorldProcess(unittest.TestCase):
+
+    def test_read_stdout(self, proc_output):
+        """Check if 'hello_world' was found in the stdout."""
+        # 'proc_output' is an object added automatically by the launch_testing framework.
+        # It captures the outputs of the processes launched in generate_test_description()
+        # Refer to the documentation for further details.
+        proc_output.assertWaitFor('hello_world', timeout=10, stream='stdout')
+
+
+# These tests are run after the processes in generate_test_description() have shutdown.
+@launch_testing.post_shutdown_test()
+class TestHelloWorldShutdown(unittest.TestCase):
+
+    def test_exit_codes(self, proc_info):
+        """Check if the processes exited normally."""
+        launch_testing.asserts.assertExitCodes(proc_info)

launch_testing/launch_testing_examples/launch_testing_examples/set_param_launch_test.py

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+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+
+import launch
+import launch.actions
+import launch_ros.actions
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+from rcl_interfaces.srv import SetParameters
+import rclpy
+from rclpy.node import Node
+
+
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+def generate_test_description():
+    return launch.LaunchDescription([
+        launch_ros.actions.Node(
+            executable='parameter_blackboard',
+            package='demo_nodes_cpp',
+            name='demo_node_1'
+        ),
+        launch_testing.actions.ReadyToTest()
+    ])
+
+
+class TestFixture(unittest.TestCase):
+
+    def test_set_parameter(self, proc_output):
+        rclpy.init()
+        node = Node('test_node')
+        response = set_parameter(node, value=True)
+        assert response.successful, 'Could not set parameter!'
+        rclpy.shutdown()
+
+
+def set_parameter(dummy_node, value=True, timeout=5.0):
+    parameters = [rclpy.Parameter('demo_parameter_1', value=value).to_parameter_msg()]
+
+    client = dummy_node.create_client(SetParameters, 'demo_node_1/set_parameters')
+    ready = client.wait_for_service(timeout_sec=timeout)
+    if not ready:
+        raise RuntimeError('Wait for service timed out')
+
+    request = SetParameters.Request()
+    request.parameters = parameters
+    future = client.call_async(request)
+    rclpy.spin_until_future_complete(dummy_node, future, timeout_sec=timeout)
+
+    response = future.result()
+    return response.results[0]

launch_testing/launch_testing_examples/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>launch_testing_examples</name>
+  <version>0.12.0</version>
+  <description>Examples of simple launch tests</description>
+  <maintainer email="[email protected]">Mabel Zhang</maintainer>
+  <maintainer email="[email protected]">Shane Loretz</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="[email protected]">Aditya Pande</author>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>launch</test_depend>
+  <test_depend>launch_ros</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>rclpy</test_depend>
+  <test_depend>std_msgs</test_depend>
+  <test_depend>demo_nodes_cpp</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

launch_testing/launch_testing_examples/setup.cfg

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+[develop]
+script_dir=$base/lib/launch_testing_examples
+[install]
+install_scripts=$base/lib/launch_testing_examples

launch_testing/launch_testing_examples/setup.py

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+from setuptools import setup
+
+package_name = 'launch_testing_examples'
+
+setup(
+    name=package_name,
+    version='0.12.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='aditya',
+    maintainer_email='[email protected]',
+    description='Examples of simple launch tests',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

launch_testing/launch_testing_examples/test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

launch_testing/launch_testing_examples/test/test_flake8.py

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+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)