def test_set_param_with_node():
lc = MockContext()
node = Node(package='asd',
executable='bsd',
name='my_node',
namespace='my_ns',
parameters=[{
'asd': 'bsd'
}])
set_param = SetParameter(name='my_param', value='my_value')
set_param.execute(lc)
node._perform_substitutions(lc)
actual_command = [
perform_substitutions(lc, item) for item in node.cmd
if type(item[0]) == TextSubstitution
]
assert actual_command.count('--params-file') == 1
assert actual_command.count('-p') == 1
param_cmdline_index = actual_command.index('-p') + 1
param_cmdline = actual_command[param_cmdline_index]
assert param_cmdline == 'my_param:=my_value'
param_file_index = actual_command.index('--params-file') + 1
param_file_path = actual_command[param_file_index]
assert os.path.isfile(param_file_path)
with open(param_file_path, 'r') as h:
expanded_parameters_dict = yaml.load(h, Loader=yaml.FullLoader)
assert expanded_parameters_dict == {
'/my_ns/my_node': {
'ros__parameters': {
'asd': 'bsd'
}
}
}
def test_set_param_with_node():
lc = MockContext()
node = Node(
package='asd',
executable='bsd',
name='my_node',
namespace='my_ns',
parameters=[{'asd': 'bsd'}]
)
set_param = SetParameter(name='my_param', value='my_value')
set_param.execute(lc)
node._perform_substitutions(lc)
expanded_parameter_files = node._Node__expanded_parameter_files
assert len(expanded_parameter_files) == 2
with open(expanded_parameter_files[0], 'r') as h:
expanded_parameters_dict = yaml.load(h, Loader=yaml.FullLoader)
assert expanded_parameters_dict == {
'/my_ns/my_node': {
'ros__parameters': {'my_param': 'my_value'}
}
}
with open(expanded_parameter_files[1], 'r') as h:
expanded_parameters_dict = yaml.load(h, Loader=yaml.FullLoader)
assert expanded_parameters_dict == {
'/my_ns/my_node': {
'ros__parameters': {'asd': 'bsd'}
}
}
def test_set_param_is_scoped():
lc = LaunchContext()
push_conf = PushLaunchConfigurations()
pop_conf = PopLaunchConfigurations()
set_param = SetParameter(name='my_param', value='my_value')
push_conf.execute(lc)
set_param.execute(lc)
assert lc.launch_configurations == {'ros_params': {'my_param': 'my_value'}}
pop_conf.execute(lc)
assert lc.launch_configurations == {}
def test_set_param_is_scoped():
lc = LaunchContext()
push_conf = PushLaunchConfigurations()
pop_conf = PopLaunchConfigurations()
set_param = SetParameter(name='my_param', value='my_value')
push_conf.execute(lc)
set_param.execute(lc)
assert lc.launch_configurations['global_params'] == [('my_param',
'my_value')]
pop_conf.execute(lc)
assert lc.launch_configurations == {}
def test_set_param(params_to_set, expected_result):
set_parameter_actions = []
for name, value in params_to_set:
set_parameter_actions.append(SetParameter(name=name, value=value))
lc = MockContext()
for set_param in set_parameter_actions:
set_param.execute(lc)
assert lc.launch_configurations['global_params'] == expected_result
def test_set_param(params_to_set, expected_result):
set_parameter_actions = []
for dicts in params_to_set:
for name, value in dicts.items():
set_parameter_actions.append(SetParameter(name=name, value=value))
lc = MockContext()
for set_param in set_parameter_actions:
set_param.execute(lc)
assert lc.launch_configurations == {'ros_params': expected_result}
def launch_setup(context, *args, **kwargs):
# use_sim_time
set_use_sim_time = SetParameter(name="use_sim_time", value=LaunchConfiguration("use_sim_time"))
# vehicle_info
vehicle_description_pkg = FindPackageShare(
[LaunchConfiguration("vehicle_model"), "_description"]
).perform(context)
load_vehicle_info = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[FindPackageShare("vehicle_info_util"), "/launch/vehicle_info.launch.py"]
),
launch_arguments={
"vehicle_info_param_file": [vehicle_description_pkg, "/config/vehicle_info.param.yaml"]
}.items(),
)
return [
set_use_sim_time,
load_vehicle_info,
]
def test_set_param_with_composable_node():
lc = MockContext()
node_description = ComposableNode(
package='asd',
plugin='my_plugin',
name='my_node',
namespace='my_ns',
parameters=[{'asd': 'bsd'}]
)
set_param_1 = SetParameter(name='my_param', value='my_value')
set_param_2 = SetParameter(name='asd', value='csd')
set_param_1.execute(lc)
set_param_2.execute(lc)
request = get_composable_node_load_request(node_description, lc)
parameters = request.parameters
assert len(parameters) == 3
assert parameters[0].name == 'my_param'
assert parameters[0].value.string_value == 'my_value'
assert parameters[1].name == 'asd'
assert parameters[1].value.string_value == 'csd'
assert parameters[2].name == 'asd'
assert parameters[2].value.string_value == 'bsd'
lc = MockContext()
node_description = ComposableNode(
package='asd',
plugin='my_plugin',
name='my_node',
namespace='my_ns',
)
set_param = SetParameter(name='my_param', value='my_value')
set_param.execute(lc)
request = get_composable_node_load_request(node_description, lc)
parameters = request.parameters
assert len(parameters) == 1
assert parameters[0].name == 'my_param'
assert parameters[0].value.string_value == 'my_value'
def launch_setup(context, *args, **kwargs):
vehicle_param_file = LaunchConfiguration(
"vehicle_info_param_file").perform(context)
with open(vehicle_param_file, "r") as f:
vehicle_param = yaml.safe_load(f)["/**"]["ros__parameters"]
return [SetParameter(name=k, value=v) for (k, v) in vehicle_param.items()]