def test_push_ros_namespace(config):
lc = LaunchContext()
if config.push_ns is not None:
pns1 = PushRosNamespace(config.push_ns)
pns1.execute(lc)
if config.second_push_ns is not None:
pns2 = PushRosNamespace(config.second_push_ns)
pns2.execute(lc)
node = Node(
package='dont_care',
executable='whatever',
node_namespace=config.node_ns,
)
node._perform_substitutions(lc)
expected_ns = config.expected_ns if config.expected_ns is not None else ''
assert expected_ns == node.expanded_node_namespace
def test_push_ros_namespace_with_composable_node(config):
lc = MockContext()
if config.push_ns is not None:
pns1 = PushRosNamespace(config.push_ns)
pns1.execute(lc)
if config.second_push_ns is not None:
pns2 = PushRosNamespace(config.second_push_ns)
pns2.execute(lc)
node_description = ComposableNode(
package='asd',
plugin='my_plugin',
namespace=config.node_ns,
name=config.node_name,
)
request = get_composable_node_load_request(node_description, lc)
expected_ns = config.expected_ns if config.expected_ns is not None else ''
assert expected_ns == request.node_namespace
def test_push_ros_namespace(config):
lc = LaunchContext()
if config.push_ns is not None:
pns1 = PushRosNamespace(config.push_ns)
pns1.execute(lc)
if config.second_push_ns is not None:
pns2 = PushRosNamespace(config.second_push_ns)
pns2.execute(lc)
node = Node(package='dont_care',
executable='whatever',
namespace=config.node_ns,
name=config.node_name)
node._perform_substitutions(lc)
expected_ns = (config.expected_ns if config.expected_ns is not None else
Node.UNSPECIFIED_NODE_NAMESPACE)
expected_name = (config.node_name if config.node_name is not None else
Node.UNSPECIFIED_NODE_NAME)
expected_fqn = expected_ns.rstrip('/') + '/' + expected_name
assert expected_ns == node.expanded_node_namespace
assert expected_fqn == node.node_name
