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# 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. | ||
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import launch_pytest | ||
import pytest | ||
import rclpy | ||
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from ament_index_python.packages import get_package_share_directory | ||
from launch import LaunchDescription | ||
from launch.actions import IncludeLaunchDescription | ||
from launch.substitutions import PathJoinSubstitution | ||
from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
from test_utils import ControllersTestNode | ||
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@launch_pytest.fixture | ||
def generate_test_description(): | ||
rosbot_controller = get_package_share_directory("rosbot_controller") | ||
bringup_launch = IncludeLaunchDescription( | ||
PythonLaunchDescriptionSource( | ||
PathJoinSubstitution( | ||
[ | ||
rosbot_controller, | ||
"launch", | ||
"controller.launch.py", | ||
] | ||
) | ||
), | ||
launch_arguments={ | ||
"use_sim": "False", | ||
"mecanum": "False", | ||
"use_gpu": "False", | ||
}.items(), | ||
) | ||
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return LaunchDescription([bringup_launch]) | ||
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@pytest.mark.launch(fixture=generate_test_description) | ||
def test_controllers_startup_fail(): | ||
rclpy.init() | ||
try: | ||
node = ControllersTestNode("test_controllers_bringup") | ||
node.create_test_subscribers_and_publishers() | ||
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node.start_node_thread() | ||
msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0) | ||
assert not msgs_received_flag, ( | ||
"Received JointStates message that should not have appeared. Check whether other" | ||
" robots are connected to your network.!" | ||
) | ||
msgs_received_flag = node.odom_msg_event.wait(timeout=10.0) | ||
assert not msgs_received_flag, ( | ||
"Received Odom message that should not have appeared. Check whether other robots are" | ||
" connected to your network.!" | ||
) | ||
msgs_received_flag = node.imu_msg_event.wait(timeout=10.0) | ||
assert not msgs_received_flag, ( | ||
"Received Imu message that should not have appeared. Check whether other robots are" | ||
" connected to your network.!" | ||
) | ||
finally: | ||
rclpy.shutdown() | ||
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@pytest.mark.launch(fixture=generate_test_description) | ||
def test_controllers_startup_success(): | ||
rclpy.init() | ||
try: | ||
node = ControllersTestNode("test_controllers_bringup") | ||
node.create_test_subscribers_and_publishers() | ||
node.start_publishing_fake_hardware() | ||
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node.start_node_thread() | ||
msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0) | ||
assert ( | ||
msgs_received_flag | ||
), "Expected JointStates message but it was not received. Check joint_state_broadcaster!" | ||
msgs_received_flag = node.odom_msg_event.wait(timeout=10.0) | ||
assert ( | ||
msgs_received_flag | ||
), "Expected Odom message but it was not received. Check rosbot_base_controller!" | ||
msgs_received_flag = node.imu_msg_event.wait(timeout=10.0) | ||
assert ( | ||
msgs_received_flag | ||
), "Expected Imu message but it was not received. Check imu_broadcaster!" | ||
finally: | ||
rclpy.shutdown() |