def test_launch_and_terminate_gazebo(self):
random_seed = 123
config = {
'random_seed': random_seed,
'gazebo': 'true',
'world_name': 'cube_world',
'output_path': self.output_dir
}
ros_process = RosWrapper(launch_file='load_ros.launch',
config=config,
visible=False)
self.assertEqual(ros_process.get_state(), ProcessState.Running)
time.sleep(5)
self.assertGreaterEqual(count_grep_name('gzserver'), 1)
ros_process.terminate()
self.assertEqual(count_grep_name('gzserver'), 0)
class TestRos(unittest.TestCase):
"""
Basic test that validates position, depth, camera sensors are updated
"""
def setUp(self) -> None:
self.output_dir = f'{get_data_dir(os.environ["CODEDIR"])}/test_dir/{get_filename_without_extension(__file__)}'
os.makedirs(self.output_dir, exist_ok=True)
config = {
'random_seed': 123,
'gazebo': 'true',
'world_name': 'empty',
'robot_name': 'drone_sim',
'output_path': self.output_dir
}
self.ros_process = RosWrapper(launch_file='load_ros.launch',
config=config,
visible=False)
subscribe_topics = [
TopicConfig(
topic_name=rospy.get_param(f'/robot/{sensor}_sensor/topic'),
msg_type=rospy.get_param(f'/robot/{sensor}_sensor/type'))
for sensor in ['camera', 'position', 'depth']
]
self.ros_topic = TestPublisherSubscriber(
subscribe_topics=subscribe_topics, publish_topics=[])
self._unpause_client = rospy.ServiceProxy('/gazebo/unpause_physics',
Emptyservice)
def test_drone_sim(self):
self.assertEqual(self.ros_process.get_state(), ProcessState.Running)
self._unpause_client.wait_for_service()
self._unpause_client(EmptyRequest())
time.sleep(2)
for sensor in [
'camera', 'position', 'depth'
]: # collision < wrench, only published when turned upside down
self.assertTrue(
rospy.get_param(f'/robot/{sensor}_sensor/topic') in
self.ros_topic.topic_values.keys())
def tearDown(self) -> None:
self.ros_process.terminate()
shutil.rmtree(self.output_dir, ignore_errors=True)
def test_launch_and_terminate_ros(self):
ros_process = RosWrapper(launch_file='empty_ros.launch',
config={'output_path': self.output_dir})
self.assertEqual(ros_process.get_state(), ProcessState.Running)
self.assertTrue(count_grep_name('ros') > 0)
ros_process.terminate()
