Launch testing examples : ROS focused

launch_testing_ros/package.xml

@@ -18,6 +18,7 @@
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
   <test_depend>std_msgs</test_depend>
+  <test_depend>demo_nodes_cpp</test_depend>
 
   <export>
     <build_type>ament_python</build_type>

launch_testing_ros/test/examples/README.rst

@@ -0,0 +1,49 @@
+Launch testing examples
+=======================
+
+.. contents:: Contents
+   :depth: 2
+   :local:
+
+Overview
+--------
+
+This directory contains examples to help the user get an idea of how to use ``launch_testing`` to write their own test cases. It contains the following 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`` : 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 the talker node from ``demo_nodes_cpp`` package. 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. It is recommended to keep the tests as short as possible.
+* ``set_param_launch_test.py`` : Launch a node, set a parameter in it and check if that was successful.
+
+Running the tests
+-----------------
+Make sure you have your ROS workspace sourced and then run:
+
+``launch_test check_msgs_launch_test.py``
+
+The output should be similar to:
+::
+   [INFO] [launch]: All log files can be found below /home/aditya/.ros/log/2021-09-14-11-12-10-734588-aditya-desktop-2020689
+   [INFO] [launch]: Default logging verbosity is set to INFO
+   test_check_if_msgs_published (check_msgs_launch_test.TestFixture) ... 1631643130.800377 [0] launch_tes: using network interface enp0s25 (udp/172.23.2.248) selected arbitrarily from: enp0s25, virbr0
+   [INFO] [talker-1]: process started with pid [2020700]
+   [talker-1] 1631643130.834719 [0]     talker: using network interface enp0s25 (udp/172.23.2.248) selected arbitrarily from: enp0s25, virbr0
+   [talker-1] [INFO] [1631643131.848249515] [demo_node_1]: Publishing: 'Hello World: 1'
+   ok
+
+   ----------------------------------------------------------------------
+   Ran 1 test in 1.062s
+
+   OK
+   [INFO] [talker-1]: sending signal 'SIGINT' to process[talker-1]
+   [talker-1] [INFO] [1631643131.855748369] [rclcpp]: signal_handler(signal_value=2)
+   [INFO] [talker-1]: process has finished cleanly [pid 2020700]
+
+   ----------------------------------------------------------------------
+   Ran 0 tests in 0.000s
+
+   OK
+
+Generic examples
+----------------
+
+More ``launch_testing`` examples which are not ROS specific are available `here <https://github.com/ros2/launch/tree/master/launch_testing/test/launch_testing/examples>`__ with their explanation available `here <https://github.com/ros2/launch/tree/master/launch_testing#examples>`__

launch_testing_ros/test/examples/check_msgs_launch_test.py

@@ -0,0 +1,75 @@
+# 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.
+
+from threading import Event
+from threading import Thread
+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
+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(
+            package='demo_nodes_cpp',
+            executable='talker',
+            name='demo_node_1',
+        ),
+
+        launch_testing.actions.ReadyToTest()
+    ])
+
+
+class TestFixture(unittest.TestCase):
+
+    def test_check_if_msgs_published(self, proc_output):
+        rclpy.init()
+        node = MakeTestNode('test_node')
+        node.start_subscriber()
+        msgs_received_flag = node.msg_event_object.wait(timeout=5.0)
+        assert msgs_received_flag, 'Did not receive msgs !'
+        rclpy.shutdown()
+
+
+class MakeTestNode(Node):
+
+    def __init__(self, name='test_node'):
+        super().__init__(name)
+        self.msg_event_object = Event()
+
+    def start_subscriber(self):
+        # Create a subscriber
+        self.subscription = self.create_subscription(
+            String,
+            'chatter',
+            self.subscriber_callback,
+            10
+        )
+
+        # Add a spin thread
+        self.ros_spin_thread = Thread(target=lambda node: rclpy.spin(node), args=(self,))
+        self.ros_spin_thread.start()
+
+    def subscriber_callback(self, data):
+        self.msg_event_object.set()

launch_testing_ros/test/examples/check_node_launch_test.py

@@ -0,0 +1,67 @@
+# 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(
+                    package='demo_nodes_cpp',
+                    executable='talker',
+                    name='demo_node_1',
+                )
+            ]),
+        launch_testing.actions.ReadyToTest()
+    ])
+
+
+class TestFixture(unittest.TestCase):
+
+    def test_node_start(self, proc_output):
+        rclpy.init()
+        node = MakeTestNode('test_node')
+        assert node.wait_for_node('demo_node_1', 8.0), 'Node not found !'
+        rclpy.shutdown()
+
+
+class MakeTestNode(Node):
+
+    def __init__(self, name='test_node'):
+        super().__init__(name)
+
+    def wait_for_node(self, 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 self.get_node_names()
+            time.sleep(0.1)
+
+        return flag

launch_testing_ros/test/examples/set_param_launch_test.py

@@ -0,0 +1,74 @@
+# 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(
+            package='demo_nodes_cpp',
+            executable='parameter_blackboard',
+            name='demo_node_1',
+        ),
+        launch_testing.actions.ReadyToTest()
+    ])
+
+
+class TestFixture(unittest.TestCase):
+
+    def test_set_parameter(self, proc_output):
+        rclpy.init()
+        node = MakeTestNode('test_node')
+        response = node.set_parameter(state=True)
+        assert response.successful, 'Could not set parameter!'
+        rclpy.shutdown()
+
+
+class MakeTestNode(Node):
+
+    def __init__(self, name='test_node'):
+        super().__init__(name)
+
+    def set_parameter(self, state=True, timeout=5.0):
+        parameters = [rclpy.Parameter('demo_parameter_1', value=state).to_parameter_msg()]
+
+        client = self.create_client(SetParameters, 'demo_node_1/set_parameters')
+        ready = client.wait_for_service(timeout_sec=5.0)
+        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(self, future)
+
+        response = future.result()
+        if response is None:
+            e = future.exception()
+            raise RuntimeError(
+                f"Exception while calling service of node 'demo_node_1': {e}")
+        return response.results[0]