add multibringup test

Signed-off-by: Jakub Delicat <[email protected]>

rosbot_bringup/test/test_multirobot_ekf.py

@@ -0,0 +1,92 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+# Copyright 2023 Intel Corporation. All Rights Reserved.
+# Copyright 2023 Husarion
+#
+# 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 launch_pytest
+import pytest
+import rclpy
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, TimerAction
+from launch.substitutions import PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from test_utils import BringupTestNode
+
+robot_names = ["rosbot1", "rosbot2"]
+
+
+@launch_pytest.fixture
+def generate_test_description():
+    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    bringup_rosbot1_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    rosbot_bringup,
+                    "launch",
+                    "bringup.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "use_sim": "False",
+            "mecanum": "False",
+            "use_gpu": "False",
+            "namespace": robot_names[0],
+        }.items(),
+    )
+
+    bringup_rosbot2_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    rosbot_bringup,
+                    "launch",
+                    "bringup.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "use_sim": "False",
+            "mecanum": "True",
+            "use_gpu": "False",
+            "namespace": robot_names[1],
+        }.items(),
+    )
+
+    delayed_spawn_robot2 = TimerAction(period=10.0, actions=[bringup_rosbot2_launch])
+
+    return LaunchDescription([bringup_rosbot1_launch, delayed_spawn_robot2])
+
+
+@pytest.mark.launch(fixture=generate_test_description)
+def test_multirobot_bringup_startup_success():
+    for robot_name in robot_names:
+        rclpy.init()
+        try:
+            node = BringupTestNode(f"test_bringup_{robot_name}", namespace=robot_name)
+            node.create_test_subscribers_and_publishers()
+            node.start_publishing_fake_hardware()
+
+            node.start_node_thread()
+            msgs_received_flag = node.odom_msg_event.wait(timeout=20.0)
+            assert msgs_received_flag, (
+                f"Expected {robot_name}/odometry/filtered message but it was not received. "
+                "Check robot_localization!"
+            )
+
+        finally:
+            rclpy.shutdown()