def generate_test_description():
# Component yaml files are grouped in separate namespaces
robot_description_config = load_file("moveit_resources_panda_description",
"urdf/panda.urdf")
robot_description = {"robot_description": robot_description_config}
robot_description_semantic_config = load_file(
"moveit_resources_panda_moveit_config", "config/panda.srdf")
robot_description_semantic = {
"robot_description_semantic": robot_description_semantic_config
}
kinematics_yaml = load_yaml("moveit_resources_panda_moveit_config",
"config/kinematics.yaml")
robot_description_kinematics = {
"robot_description_kinematics": kinematics_yaml
}
joint_limits_yaml = {
"robot_description_planning":
load_yaml("moveit_resources_panda_moveit_config",
"config/joint_limits.yaml")
}
test_param = load_yaml("moveit_kinematics",
"config/panda-kdl-singular-test.yaml")
panda_kdl_singular = Node(
package="moveit_kinematics",
executable="test_kinematics_plugin",
name="panda_kdl_singular",
parameters=[
robot_description,
robot_description_semantic,
robot_description_kinematics,
joint_limits_yaml,
test_param,
],
output="screen",
)
return (
LaunchDescription([
panda_kdl_singular,
KeepAliveProc(),
launch_testing.actions.ReadyToTest(),
]),
{
"panda_kdl_singular": panda_kdl_singular
},
)
def generate_test_description():
robot_description_config = load_file("moveit_resources_fanuc_description",
"urdf/fanuc.urdf")
robot_description = {"robot_description": robot_description_config}
robot_description_semantic_config = load_file(
"moveit_resources_fanuc_moveit_config", "config/fanuc.srdf")
robot_description_semantic = {
"robot_description_semantic": robot_description_semantic_config
}
kinematics_yaml = load_yaml("moveit_resources_fanuc_moveit_config",
"config/kinematics.yaml")
robot_description_kinematics = {
"robot_description_kinematics": kinematics_yaml
}
joint_limits_yaml = {
"robot_description_planning":
load_yaml("moveit_resources_fanuc_moveit_config",
"config/joint_limits.yaml")
}
test_param = load_yaml("moveit_kinematics",
"config/fanuc-lma-singular-test.yaml")
fanuc_lma_singular = Node(
package="moveit_kinematics",
executable="test_kinematics_plugin",
name="fanuc_lma_singular",
parameters=[
robot_description,
robot_description_semantic,
robot_description_kinematics,
joint_limits_yaml,
test_param,
],
output="screen",
)
return (
LaunchDescription([
fanuc_lma_singular,
KeepAliveProc(),
launch_testing.actions.ReadyToTest(),
]),
{
"fanuc_lma_singular": fanuc_lma_singular
},
)
def generate_test_description():
# Component yaml files are grouped in separate namespaces
robot_description_config = load_file("moveit_resources_fanuc_description",
"urdf/fanuc.urdf")
robot_description = {"robot_description": robot_description_config}
robot_description_semantic_config = load_file(
"moveit_resources_fanuc_moveit_config", "config/fanuc.srdf")
robot_description_semantic = {
"robot_description_semantic": robot_description_semantic_config
}
kinematics_yaml = load_yaml("moveit_resources_fanuc_moveit_config",
"config/kinematics.yaml")
robot_description_kinematics = {
"robot_description_kinematics": kinematics_yaml
}
test_param = load_yaml("moveit_kinematics", "config/fanuc-lma-test.yaml")
fanuc_lma = Node(
package="moveit_kinematics",
executable="test_kinematics_plugin",
name="fanuc_lma",
parameters=[
robot_description,
robot_description_semantic,
robot_description_kinematics,
test_param,
],
output="screen",
)
return (
LaunchDescription([
fanuc_lma,
KeepAliveProc(),
launch_testing.actions.ReadyToTest(),
]),
{
"fanuc_lma": fanuc_lma
},
)
def test_wait_for_wrong_process(self):
data = []
self.launch_description.add_entity(
launch.actions.RegisterEventHandler(
StdoutReadyListener(
target_action=KeepAliveProc(
), # We never launched this process
ready_txt='Ready',
actions=[
launch.actions.OpaqueFunction(
function=lambda context: data.append('ok'))
])))
launch_service = launch.LaunchService()
launch_service.include_launch_description(self.launch_description)
launch_service.run()
# We should not get confused by output from another proc
self.assertNotIn('ok', data)
def generate_test_description():
return LaunchDescription([KeepAliveProc(), ReadyToTest()])