srdf_publisher_test.py

Go to the documentation of this file.

# Software License Agreement (BSD License)
#
#  Copyright (c) 2024, PickNik Robotics Inc.
#  All rights reserved.
#
#  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 PickNik Robotics Inc. 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 OWNER 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: Tyler Weaver
 
import unittest
from threading import Event
from threading import Thread
 
import launch
import launch_ros
import launch_testing
import rclpy
from rclpy.node import Node
from rclpy.qos import (
    QoSProfile,
    QoSReliabilityPolicy,
    QoSDurabilityPolicy,
)
from std_msgs.msg import String
 
import pytest
 
 
@pytest.mark.launch_test
def generate_test_description():
    srdf_publisher = launch_ros.actions.Node(
        package="moveit_ros_planning",
        parameters=[{"robot_description_semantic": "test value"}],
        executable="srdf_publisher",
        output="screen",
    )
 
    return launch.LaunchDescription(
        [
            srdf_publisher,
            # Start tests right away - no need to wait for anything
            launch_testing.actions.ReadyToTest(),
        ]
    ), {"srdf_publisher": srdf_publisher}
 
 
class SrdfObserverNode(Node):
    def __init__(self, name="srdf_observer_node"):
        super().__init__(name)
        self.msg_event_objectmsg_event_object = Event()
        self.srdfsrdf = ""
 
    def start_subscriber(self):
        # Create a subscriber
        self.subscriptionsubscription = self.create_subscription(
            String,
            "robot_description_semantic",
            self.subscriber_callbacksubscriber_callback,
            qos_profile=QoSProfile(
                reliability=QoSReliabilityPolicy.RELIABLE,
                durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
                depth=1,
            ),
        )
 
        # Add a spin thread
        self.ros_spin_threadros_spin_thread = Thread(
            target=lambda node: rclpy.spin(node), args=(self,)
        )
        self.ros_spin_threadros_spin_thread.start()
 
    def subscriber_callback(self, msg):
        self.srdfsrdf = msg.data
        self.msg_event_objectmsg_event_object.set()
 
 
# These tests will run concurrently with the dut process.  After all these tests are done,
# the launch system will shut down the processes that it started up
class TestFixture(unittest.TestCase):
    def test_rosout_msgs_published(self, proc_output):
        rclpy.init()
        try:
            node = SrdfObserverNode()
            node.start_subscriber()
            msgs_received_flag = node.msg_event_object.wait(timeout=5.0)
            assert (
                msgs_received_flag
            ), "Did not receive message on `/robot_description_semantic`!"
            assert node.srdf == "test value"
        finally:
            rclpy.shutdown()
 
 
@launch_testing.post_shutdown_test()
class TestProcessOutput(unittest.TestCase):
    def test_exit_code(self, proc_info):
        # Check that all processes in the launch (in this case, there's just one) exit
        # with code 0
        launch_testing.asserts.assertExitCodes(proc_info)