def test_missing_command_raises(commands):
"""Test that a command that doesn't exist raises."""
context = LaunchContext()
command = Command('ros2_launch_test_command_i_m_not_a_command')
with pytest.raises(SubstitutionFailure) as ex:
command.perform(context)
ex.match('file not found:')
def test_reset():
xml_file = \
"""\
<launch>
<let name="foo" value="FOO"/>
<let name="bar" value="BAR"/>
<reset>
<keep name="bar" value="$(var bar)"/>
<keep name="baz" value="BAZ"/>
</reset>
</launch>
""" # noqa: E501
xml_file = textwrap.dedent(xml_file)
root_entity, parser = Parser.load(io.StringIO(xml_file))
ld = parser.parse_description(root_entity)
assert isinstance(ld.entities[0], SetLaunchConfiguration)
assert isinstance(ld.entities[1], SetLaunchConfiguration)
assert isinstance(ld.entities[2], ResetLaunchConfigurations)
lc = LaunchContext()
assert len(lc.launch_configurations) == 0
ld.entities[0].visit(lc)
ld.entities[1].visit(lc)
assert len(lc.launch_configurations) == 2
assert 'foo' in lc.launch_configurations.keys()
assert lc.launch_configurations['foo'] == 'FOO'
assert 'bar' in lc.launch_configurations.keys()
assert lc.launch_configurations['bar'] == 'BAR'
ld.entities[2].visit(lc)
assert 'foo' not in lc.launch_configurations.keys()
assert 'bar' in lc.launch_configurations.keys()
assert lc.launch_configurations['bar'] == 'BAR'
assert 'baz' in lc.launch_configurations.keys()
assert lc.launch_configurations['baz'] == 'BAZ'
def test_group():
yaml_file = \
"""\
launch:
- let:
name: 'foo'
value: 'FOO'
- let:
name: 'bar'
value: 'BAR'
- group:
scoped: True
forwarding: False
keep:
- name: 'bar'
value: $(var bar)
- name: 'baz'
value: 'BAZ'
children:
- let:
name: 'var1'
value: 'asd'
- let:
name: 'var2'
value: 'asd'
""" # noqa: E501
yaml_file = textwrap.dedent(yaml_file)
root_entity, parser = Parser.load(io.StringIO(yaml_file))
ld = parser.parse_description(root_entity)
assert isinstance(ld.entities[0], SetLaunchConfiguration)
assert isinstance(ld.entities[1], SetLaunchConfiguration)
assert isinstance(ld.entities[2], GroupAction)
lc = LaunchContext()
assert 0 == len(lc.launch_configurations)
ld.entities[0].visit(lc)
ld.entities[1].visit(lc)
assert 2 == len(lc.launch_configurations)
assert 'foo' in lc.launch_configurations.keys()
assert 'FOO' == lc.launch_configurations['foo']
assert 'bar' in lc.launch_configurations.keys()
assert 'BAR' == lc.launch_configurations['bar']
actions = ld.entities[2].execute(lc)
assert 5 == len(actions)
assert isinstance(actions[0], PushLaunchConfigurations)
assert isinstance(actions[1], ResetLaunchConfigurations)
assert isinstance(actions[2], SetLaunchConfiguration)
assert isinstance(actions[3], SetLaunchConfiguration)
assert isinstance(actions[4], PopLaunchConfigurations)
actions[0].visit(lc)
actions[1].visit(lc)
assert 'foo' not in lc.launch_configurations.keys()
assert 'bar' in lc.launch_configurations.keys()
assert 'BAR' == lc.launch_configurations['bar']
assert 'baz' in lc.launch_configurations.keys()
assert 'BAZ' == lc.launch_configurations['baz']
actions[2].visit(lc)
actions[3].visit(lc)
actions[4].visit(lc)
def test_failing_command_rises(commands):
"""Test that a failing command raises."""
context = LaunchContext()
command = Command(commands['failing'])
with pytest.raises(SubstitutionFailure) as ex:
command.perform(context)
ex.match('executed command failed. Command: .*failing_command')
def generate_launch_description():
map_yaml_file = os.getenv('TEST_MAP')
world = os.getenv('TEST_WORLD')
bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'),
'behavior_trees',
os.getenv('BT_NAVIGATOR_XML'))
bringup_dir = get_package_share_directory('nav2_bringup')
params_file = os.path.join(bringup_dir, 'params', 'nav2_params.yaml')
# Replace the `use_astar` setting on the params file
param_substitutions = {
'planner_server.ros__parameters.GridBased.use_astar': 'False'}
configured_params = RewrittenYaml(
source_file=params_file,
root_key='',
param_rewrites=param_substitutions,
convert_types=True)
context = LaunchContext()
new_yaml = configured_params.perform(context)
return LaunchDescription([
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
# Launch gazebo server for simulation
ExecuteProcess(
cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
'--minimal_comms', world],
output='screen'),
# TODO(orduno) Launch the robot state publisher instead
# using a local copy of TB3 urdf file
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(bringup_dir, 'launch', 'bringup_launch.py')),
launch_arguments={'namespace': '',
'use_namespace': 'False',
'map': map_yaml_file,
'use_sim_time': 'True',
'params_file': new_yaml,
'bt_xml_file': bt_navigator_xml,
'autostart': 'True'}.items()),
])
def test_command_with_stderr_raises(commands):
"""Test that a command that produces stderr raises."""
context = LaunchContext()
command = Command(commands['with_stderr'])
with pytest.raises(SubstitutionFailure) as ex:
command.perform(context)
ex.match(
'executed command showed stderr output. Command: .*command_with_stderr'
r'[\w\W]*asd bsd')
def test_passthrough_properties():
name = 'name'
cwd = 'cwd'
env = {'a': '1'}
exe = Executable(cmd=['test'], name=name, cwd=cwd, env=env)
exe.prepare(LaunchContext(), None)
assert exe.final_name.startswith(name)
assert exe.final_cwd == cwd
assert exe.final_env == env
def test_group():
xml_file = \
"""\
<launch>
<let name="foo" value="FOO"/>
<let name="bar" value="BAR"/>
<group scoped="True" forwarding="False">
<keep name="bar" value="$(var bar)"/>
<keep name="baz" value="BAZ"/>
<let name="var1" value="asd"/>
<let name="var2" value="asd"/>
</group>
</launch>
""" # noqa: E501
xml_file = textwrap.dedent(xml_file)
root_entity, parser = Parser.load(io.StringIO(xml_file))
ld = parser.parse_description(root_entity)
assert isinstance(ld.entities[0], SetLaunchConfiguration)
assert isinstance(ld.entities[1], SetLaunchConfiguration)
assert isinstance(ld.entities[2], GroupAction)
lc = LaunchContext()
assert 0 == len(lc.launch_configurations)
ld.entities[0].visit(lc)
ld.entities[1].visit(lc)
assert 2 == len(lc.launch_configurations)
assert 'foo' in lc.launch_configurations.keys()
assert 'FOO' == lc.launch_configurations['foo']
assert 'bar' in lc.launch_configurations.keys()
assert 'BAR' == lc.launch_configurations['bar']
actions = ld.entities[2].execute(lc)
assert 5 == len(actions)
assert isinstance(actions[0], PushLaunchConfigurations)
assert isinstance(actions[1], ResetLaunchConfigurations)
assert isinstance(actions[2], SetLaunchConfiguration)
assert isinstance(actions[3], SetLaunchConfiguration)
assert isinstance(actions[4], PopLaunchConfigurations)
actions[0].visit(lc)
actions[1].visit(lc)
assert 'foo' not in lc.launch_configurations.keys()
assert 'bar' in lc.launch_configurations.keys()
assert 'BAR' == lc.launch_configurations['bar']
assert 'baz' in lc.launch_configurations.keys()
assert 'BAZ' == lc.launch_configurations['baz']
actions[2].visit(lc)
actions[3].visit(lc)
actions[4].visit(lc)
def test_reset():
yaml_file = \
"""\
launch:
- let:
name: 'foo'
value: 'FOO'
- let:
name: 'bar'
value: 'BAR'
- reset:
keep:
- name: 'bar'
value: $(var bar)
- name: 'baz'
value: 'BAZ'
""" # noqa: E501
print('Load YAML')
yaml_file = textwrap.dedent(yaml_file)
print('Load Parser')
root_entity, parser = Parser.load(io.StringIO(yaml_file))
print('Parse Description')
ld = parser.parse_description(root_entity)
assert isinstance(ld.entities[0], SetLaunchConfiguration)
assert isinstance(ld.entities[1], SetLaunchConfiguration)
assert isinstance(ld.entities[2], ResetLaunchConfigurations)
lc = LaunchContext()
assert len(lc.launch_configurations) == 0
ld.entities[0].visit(lc)
ld.entities[1].visit(lc)
assert len(lc.launch_configurations) == 2
assert 'foo' in lc.launch_configurations.keys()
assert lc.launch_configurations['foo'] == 'FOO'
assert 'bar' in lc.launch_configurations.keys()
assert lc.launch_configurations['bar'] == 'BAR'
ld.entities[2].visit(lc)
assert 'foo' not in lc.launch_configurations.keys()
assert 'bar' in lc.launch_configurations.keys()
assert lc.launch_configurations['bar'] == 'BAR'
assert 'baz' in lc.launch_configurations.keys()
assert lc.launch_configurations['baz'] == 'BAZ'
def test_substituted_properties():
os.environ['EXECUTABLE_NAME'] = 'name'
os.environ['EXECUTABLE_CWD'] = 'cwd'
os.environ['EXECUTABLE_ENVVAR'] = 'var'
os.environ['EXECUTABLE_ENVVAL'] = 'value'
name = EnvironmentVariable('EXECUTABLE_NAME')
cwd = EnvironmentVariable('EXECUTABLE_CWD')
env = {
EnvironmentVariable('EXECUTABLE_ENVVAR'):
EnvironmentVariable('EXECUTABLE_ENVVAL')
}
exe = Executable(cmd=['test'], name=name, cwd=cwd, env=env)
exe.prepare(LaunchContext(), None)
assert exe.final_name.startswith('name')
assert exe.final_cwd == 'cwd'
assert exe.final_env == {'var': 'value'}
del os.environ['EXECUTABLE_NAME']
del os.environ['EXECUTABLE_CWD']
del os.environ['EXECUTABLE_ENVVAR']
del os.environ['EXECUTABLE_ENVVAL']
default_value='127.0.0.1',
description='ROBOT_IP'),
DeclareLaunchArgument('port',
default_value='12345',
description='ROBOT_PORT'),
DeclareLaunchArgument('mode',
default_value='virtual',
description='OPERATION MODE'),
DeclareLaunchArgument('model',
default_value='m1013',
description='ROBOT_MODEL'),
DeclareLaunchArgument('color',
default_value='white',
description='ROBOT_COLOR'),
]
context = LaunchContext()
def load_file(package_name, file_path):
package_path = get_package_share_directory(package_name)
absolute_file_path = os.path.join(package_path, file_path)
try:
with open(absolute_file_path, 'r') as file:
return file.read()
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
return None
def load_yaml(package_name, file_path):
package_path = get_package_share_directory(package_name)
def test_command_with_stderr_capture(commands):
"""Test `Command` substitution with `on_stderr='capture'`."""
context = LaunchContext()
command = Command(commands['with_stderr'], on_stderr='capture')
output = command.perform(context)
assert output == 'asd bsd\n'
def test_command_with_stderr_warn(commands):
"""Test `Command` substitution with `on_stderr='warn'`."""
context = LaunchContext()
command = Command(commands['with_stderr'], on_stderr='warn')
output = command.perform(context)
assert output == ''
def test_command_with_stderr_ignored(commands):
"""Test `Command` substitution ignoring stderr."""
context = LaunchContext()
command = Command(commands['with_stderr'], on_stderr='ignore')
output = command.perform(context)
assert output == ''
def test_cmd_multiple_arguments_in_string():
exe = Executable(cmd=['ls', '-opt1', '-opt2', '-opt3'])
exe.prepare(LaunchContext(), None)
assert all(
a == b
for a, b in zip(exe.final_cmd, ['ls', '-opt1', '-opt2', '-opt3']))
def test_command(commands):
"""Test a simple command."""
context = LaunchContext()
command = Command(commands['normal'])
output = command.perform(context)
assert output == 'asd bsd csd\n'
def generate_launch_description():
map_yaml_file = os.getenv('TEST_MAP')
world = os.getenv('TEST_WORLD')
bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'),
'behavior_trees',
os.getenv('BT_NAVIGATOR_XML'))
bringup_dir = get_package_share_directory('nav2_bringup')
params_file = os.path.join(bringup_dir, 'params', 'nav2_params.yaml')
# Replace the default parameter values for testing special features
# without having multiple params_files inside the nav2 stack
context = LaunchContext()
param_substitutions = {}
if (os.getenv('ASTAR') == 'True'):
param_substitutions.update({'use_astar': 'True'})
if (os.getenv('GROOT_MONITORING') == 'True'):
param_substitutions.update({'enable_groot_monitoring': 'True'})
configured_params = RewrittenYaml(
source_file=params_file,
root_key='',
param_rewrites=param_substitutions,
convert_types=True)
new_yaml = configured_params.perform(context)
return LaunchDescription([
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
# Launch gazebo server for simulation
ExecuteProcess(
cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
'--minimal_comms', world],
output='screen'),
# TODO(orduno) Launch the robot state publisher instead
# using a local copy of TB3 urdf file
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(bringup_dir, 'launch', 'bringup_launch.py')),
launch_arguments={'namespace': '',
'use_namespace': 'False',
'map': map_yaml_file,
'use_sim_time': 'True',
'params_file': new_yaml,
'bt_xml_file': bt_navigator_xml,
'autostart': 'True'}.items()),
])
else:
raise RuntimeError('No launch file supplied')
launch_arguments.extend(args.launch_arguments)
parsed_launch_arguments = parse_launch_arguments(launch_arguments)
launch_description = launch.LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.AnyLaunchDescriptionSource(path),
launch_arguments=parsed_launch_arguments,
),
])
walker = []
walker.append(launch_description)
ros_specific_arguments: Dict[str, Union[str, List[str]]] = {}
context = LaunchContext(argv=launch_arguments)
context._set_asyncio_loop(asyncio.get_event_loop())
try:
# * Here we mimic the run loop inside launch_service,
# but without actually kicking off the processes.
# * Traverse the sub entities by DFS.
# * Shadow the stdout to avoid random print outputs.
mystring = StringIO()
sys.stdout = mystring
while walker:
entity = walker.pop()
visit_future = entity.visit(context)
if visit_future is not None:
visit_future.reverse()
walker.extend(visit_future)
def test_cmd_strings_in_list():
exe = Executable(cmd=['ls', '"my/subdir/with spaces/"'])
exe.prepare(LaunchContext(), None)
assert all(
a == b
for a, b in zip(exe.final_cmd, ['ls', '"my/subdir/with spaces/"']))