149 lines
5.0 KiB
Python
149 lines
5.0 KiB
Python
#!/usr/bin/env python
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# Copyright 2024, FZI Forschungszentrum Informatik
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the {copyright_holder} nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import logging
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import os
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import pytest
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import sys
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import time
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import unittest
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import rclpy
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from rclpy.node import Node
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from launch import LaunchDescription
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from launch.actions import (
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ExecuteProcess,
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IncludeLaunchDescription,
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RegisterEventHandler,
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)
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from launch.event_handlers import OnProcessExit
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.substitutions import FindPackagePrefix, FindPackageShare
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import launch_testing
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from launch_testing.actions import ReadyToTest
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sys.path.append(os.path.dirname(__file__))
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from test_common import ( # noqa: E402
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ControllerManagerInterface,
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_declare_launch_arguments,
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_ursim_action,
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)
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@pytest.mark.launch_test
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@launch_testing.parametrize(
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"launch_dashboard_client",
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[("true"), ("false")],
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)
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def generate_test_description(launch_dashboard_client):
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ur_type = LaunchConfiguration("ur_type")
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launch_arguments = {
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"robot_ip": "192.168.56.101",
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"ur_type": ur_type,
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"launch_rviz": "false",
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"controller_spawner_timeout": str(120),
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"initial_joint_controller": "scaled_joint_trajectory_controller",
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"headless_mode": "true",
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"launch_dashboard_client": launch_dashboard_client,
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"start_joint_controller": "false",
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}
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robot_driver = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[FindPackageShare("ur_robot_driver"), "launch", "ur_control.launch.py"]
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)
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),
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launch_arguments=launch_arguments.items(),
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)
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wait_dashboard_server = ExecuteProcess(
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cmd=[
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PathJoinSubstitution(
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[
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FindPackagePrefix("ur_robot_driver"),
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"bin",
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"wait_dashboard_server.sh",
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]
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)
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],
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name="wait_dashboard_server",
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output="screen",
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)
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driver_starter = RegisterEventHandler(
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OnProcessExit(target_action=wait_dashboard_server, on_exit=robot_driver)
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)
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return LaunchDescription(
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_declare_launch_arguments()
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+ [ReadyToTest(), wait_dashboard_server, _ursim_action(), driver_starter]
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)
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class DashboardClientTest(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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# Initialize the ROS context
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rclpy.init()
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cls.node = Node("robot_driver_launch_test")
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time.sleep(1)
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cls.init_robot(cls)
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@classmethod
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def tearDownClass(cls):
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# Shutdown the ROS context
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cls.node.destroy_node()
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rclpy.shutdown()
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def init_robot(self):
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# This waits for the controller_manager to be available
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self._controller_manager_interface = ControllerManagerInterface(self.node)
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def setUp(self):
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pass
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def test_dashboard_client_exists(self, launch_dashboard_client):
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# Use the get_node_names_and_namespaces() method to get the list of nodes and their namespaces
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nodes_with_ns = self.node.get_node_names_and_namespaces()
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nodes = [namespace + name for (name, namespace) in nodes_with_ns]
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for node in nodes:
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print(node)
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# Print out the nodes and their namespaces
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logging.info("Discovered ROS nodes:")
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if launch_dashboard_client == "true":
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self.assertIn("/dashboard_client", nodes)
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else:
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self.assertNotIn("/dashboard_client", nodes)
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