diff --git a/CMakeLists.txt b/CMakeLists.txt index 3a68b62..7f77b9b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,27 +1,26 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(urdf_test) -find_package(catkin REQUIRED COMPONENTS rospy) +find_package(ament_cmake_auto REQUIRED) -catkin_python_setup() +# PAL Robotics stricter build flags, other developers should not worry about this +find_package(ament_cmake_pal QUIET) + +ament_auto_find_build_dependencies() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + + ament_lint_auto_find_test_dependencies() +endif() -################################### -## catkin specific configuration ## -################################### -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES urdf_test -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS gtest -) -############# -## Install ## -############# install(PROGRAMS - scripts/test_urdf.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + scripts/test_urdf.py + DESTINATION lib/${PROJECT_NAME} ) -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +# Install Python modules +ament_python_install_package(${PROJECT_NAME}) + +ament_auto_package() diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000..58132eb --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,56 @@ +# Contributing Guidelines +Thank you for your interest in contributing to this project +Whether it's a bug report, new feature, correction, or additional +documentation, we greatly value feedback and contributions from our community. + +Please read through this document before submitting any issues or pull requests to ensure we have all the necessary +information to effectively respond to your bug report or contribution. + + +## Reporting Bugs/Feature Requests +We welcome you to use the GitHub issue tracker to report bugs or suggest features. + +When filing an issue, please check existing open issues, or recently closed, issues to make sure + somebody else hasn't already reported the issue. +Please try to include as much information as you can. Details like these are incredibly useful: + +* A reproducible test case or series of steps +* The version of our code being used +* Any modifications you've made relevant to the bug +* Anything unusual about your environment or deployment + + +## Contributing via Pull Requests +Contributions via pull requests are much appreciated. +Before sending us a pull request, please ensure that: + +1. You are working against the latest source on the *master* branch. +2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already. +3. You open an issue to discuss any significant work - we would hate for your time to be wasted. + +To send us a pull request, please: + +1. Fork the repository. +2. Modify the source; please focus on the specific change you are contributing. + If you also reformat all the code, it will be hard for us to focus on your change. +3. Ensure local tests pass. (`colcon test`) +4. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/README.md b/README.md new file mode 100644 index 0000000..c86b0fa --- /dev/null +++ b/README.md @@ -0,0 +1,30 @@ +# urdf_test + +Provides a utility to test that a robot_description is loaded and published correctly from a launch file. + +To use it include a launch_test in your package's CMakeLists.txt +```cmake + add_launch_test( + test/test_description.launch.py + TARGET "pmb2_description_${laser_model}_${courier_rgbd_sensors}" # With TARGET set test name + ARGS "laser_model:=${laser_model}" "courier_rgbd_sensors:=${courier_rgbd_sensors}" # You can use variables to test different configurations + ) +``` + +And in the launch.py file include the description generator and the Test classes: +```python +from urdf_test.description_test import (generate_urdf_test_description, + TestDescriptionPublished, TestSuccessfulExit) +from launch_pal.include_utils import include_launch_py_description + +# Ignore unused import warnings for the Test Classes +__all__ = ('TestDescriptionPublished', 'TestSuccessfulExit') + + +def generate_test_description(): + return generate_urdf_test_description( + include_launch_py_description( + 'pmb2_description', ['launch', 'robot_state_publisher.launch.py']), + ) +``` + diff --git a/package.xml b/package.xml index 06d636e..f2a8982 100644 --- a/package.xml +++ b/package.xml @@ -1,18 +1,20 @@ - + urdf_test 1.0.4 The urdf_test package - davidfernandez + Victor Lopez - Proprietary + Apache License 2.0 - catkin + ament_cmake_auto - rospy - xacro + rclpy + ament_lint_auto + ament_lint_common + ament_cmake diff --git a/scripts/test_urdf.py b/scripts/test_urdf.py index c63261f..47d146f 100755 --- a/scripts/test_urdf.py +++ b/scripts/test_urdf.py @@ -1,16 +1,60 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 +# Copyright (c) 2021 PAL Robotics S.L. +# +# 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 rospy -import unittest +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSDurabilityPolicy +from rclpy.qos import QoSProfile -class TestURDF(unittest.TestCase): - def test_urdf(self): - self.assertTrue(rospy.has_param("robot_description")) - rd = rospy.get_param("robot_description") - self.assertNotEqual("", rd) +from std_msgs.msg import String + + +class MinimalSubscriber(Node): + + def __init__(self): + super().__init__('robot_description_subscriber') + self.robot_description_received = False + + qos_profile = QoSProfile( + depth=1, + durability=QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL) + self.subscription = self.create_subscription( + String, + 'robot_description', + self.listener_callback, + qos_profile) + self.subscription # prevent unused variable warning + + def listener_callback(self, msg): + self.get_logger().info('Received robot_description') + print('Received robot_description') + self.robot_description_received = True + + +def main(args=None): + rclpy.init(args=args) + + minimal_subscriber = MinimalSubscriber() + + while not minimal_subscriber.robot_description_received: + rclpy.spin_once(minimal_subscriber) + + rclpy.shutdown() + exit(0) + if __name__ == '__main__': - import rosunit - rospy.init_node("test_urdf") - rosunit.unitrun("urdf_test", 'urdf_test', TestURDF) + main() diff --git a/src/urdf_test/__init__.py b/urdf_test/__init__.py similarity index 100% rename from src/urdf_test/__init__.py rename to urdf_test/__init__.py diff --git a/urdf_test/description_test.py b/urdf_test/description_test.py new file mode 100644 index 0000000..d282a0e --- /dev/null +++ b/urdf_test/description_test.py @@ -0,0 +1,59 @@ +# Copyright (c) 2021 PAL Robotics S.L. +# +# 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 launch import LaunchDescription +import launch_testing +import unittest +import os + +from launch_ros.actions import Node + + +def generate_urdf_test_description(launch_file_action): + # This is necessary to get unbuffered output from the process under test + proc_env = os.environ.copy() + proc_env['PYTHONUNBUFFERED'] = '1' + + # dut = device under test, aka the actual test + dut_process = Node(package='urdf_test', + executable='test_urdf.py', + output='both', + env=proc_env,) + return LaunchDescription([ + launch_file_action, + dut_process, + + launch_testing.actions.ReadyToTest(), + ]), {'dut_process': dut_process} + + +class TestDescriptionPublished(unittest.TestCase): + + def test_robot_description_output(self, proc_output, proc_info, dut_process): + # This will match stderr from dut_process + # stderr seems to be used even by rclpy.loginfo(), stdout will fail and not find anything + + proc_output.assertWaitFor( + 'Received robot_description', timeout=3, stream='stderr', process=dut_process) + + # Wait until process ends + proc_info.assertWaitForShutdown(process=dut_process, timeout=2) + + +@launch_testing.post_shutdown_test() +class TestSuccessfulExit(unittest.TestCase): + + def test_exit_code(self, proc_info, dut_process): + # Check that dut_process finishes with code 0 + launch_testing.asserts.assertExitCodes(proc_info, process=dut_process)