def setup():
global async_launcher
default_launcher = DefaultLauncher()
launch_file = os.path.join(os.path.abspath(os.path.dirname(__file__)), 'launch_counter.py')
launch_descriptor = LaunchDescriptor()
load_launch_file(launch_file, launch_descriptor, {})
default_launcher.add_launch_descriptor(launch_descriptor)
async_launcher = AsynchronousLauncher(default_launcher)
async_launcher.start()
def test_interrupt_asynchronous_launcher():
desc = LaunchDescriptor()
desc.add_process(
cmd=[sys.executable, '-c', 'import time', 'time.sleep(30)'],
name='test_interrupt_asynchronous_launcher__python_blocking'
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(desc)
async_launcher = AsynchronousLauncher(launcher)
async_launcher.start()
# wait up to 10 seconds to get to the point where at least all of the
# asyncio-subprocess coroutines have been run (the processes are still
# not guaranteed to be running yet)
launcher.wait_on_processes_to_spawn(10)
if not launcher.are_processes_spawned():
# if the processes didn't launch after 10 seconds, fail the test
assert False, 'launcher never reported processes launched'
async_launcher.terminate()
# now wait for the launcher to finish and error if if doesn't
async_launcher.join(60)
if async_launcher.is_alive():
# if still running fail the test
assert False, 'async launcher failed to shutdown'
def test_talker_listener():
launch_desc = LaunchDescriptor()
launch_desc.add_process(
cmd=[sys.executable, os.path.join(this_dir, 'talker.py')],
name='test_talker_listener__talker'
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(launch_desc)
async_launcher = AsynchronousLauncher(launcher)
async_launcher.start()
import rclpy
rclpy.init([])
from rclpy.qos import qos_profile_default
from std_msgs.msg import String
assert String.__class__._TYPE_SUPPORT is not None
node = rclpy.create_node('listener')
received_messages = []
chatter_callback = functools.partial(
listener_callback, received_messages=received_messages)
# TODO(wjwwood): should the subscription object hang around?
node.create_subscription(String, 'chatter', chatter_callback, qos_profile_default)
spin_count = 0
while len(received_messages) == 0 and spin_count < 10 and launcher.is_launch_running():
rclpy.spin_once(node) # This will wait 1 second or until something has been done.
spin_count += 1
async_launcher.terminate()
async_launcher.join()
assert len(received_messages) > 0, "Should have received a message from talker"
