def test_launch_config(self):
"""
Haven't looked into a good way of testing launched nodes
so we'll settle for launching the entire thing and
catching all exceptions as a sanity check.
"""
configs = [
pl.Node("rospy_tutorials",
"talker",
"talker2",
params={'calibrate_time': False},
remaps=[('chatter', 'hello_topic')]),
pl.Include('pylaunch',
'listener.launch',
params={'some_arg': '21'})
]
p = pl.PyRosLaunch(configs)
p.start()
rospy.init_node('test')
has_subscriber = False
try:
rospy.wait_for_message('/hello_topic', std.String, 10)
has_subscriber = wait_for_subscriber_to_topic('/hello', 10)
except rospy.exceptions.ROSException:
self.fail("Failed to launch nodes.")
finally:
p.shutdown()
if not has_subscriber:
self.fail("Failed to launch nodes.")
def test_include_remap(self):
p = pl.PyRosLaunch([
pl.Include('pylaunch',
'talker.launch',
remaps=[('chatter', 'blah_blah')])
])
p.start()
rospy.init_node('test')
try:
rospy.wait_for_message('/blah_blah', std.String, 10)
except rospy.exceptions.ROSException:
self.fail("Failed to launch nodes.")
finally:
p.shutdown()
def test_node_param(self):
p = pl.PyRosLaunch([
pl.Node('rospy_tutorials',
'talker',
'talker',
params={'use_may_nav': False})
])
p.start()
rospy.init_node('test')
try:
rospy.wait_for_message('/chatter', std.String, 10)
use_may_nav = rospy.get_param('/talker/use_may_nav')
self.assertEquals(type(use_may_nav), bool)
self.assertFalse(use_may_nav)
except rospy.exceptions.ROSException:
self.fail("Failed to launch nodes.")
finally:
p.shutdown()
def test_param(self):
p = pl.PyRosLaunch([
pl.Node('rospy_tutorials', 'talker', 'talker2'),
pl.Param('int_param', 5),
pl.Param('command_param', command='echo hello')
])
p.start()
rospy.init_node('test')
try:
rospy.wait_for_message('/chatter', std.String, 10)
int_param = rospy.get_param('int_param')
command_param = rospy.get_param('command_param')
self.assertTrue(type(int_param) == int)
self.assertTrue(int_param == 5)
self.assertTrue(type(command_param) == str)
self.assertTrue(command_param == "hello\n")
except rospy.exceptions.ROSException:
self.fail("Failed to launch nodes.")
finally:
p.shutdown()
def test_ros_param(self):
p = pl.PyRosLaunch([
pl.Node('rospy_tutorials',
'talker',
'talker',
rosparams=[
pl.RosParam(
pt.join(pl.pkg_path('pylaunch'), 'test',
'param.yml'))
])
])
p.start()
rospy.init_node('test')
try:
rospy.wait_for_message('/chatter', std.String, 10)
param = rospy.get_param('/talker/a_param')
self.assertTrue(1332 == param)
self.assertTrue(type(param) == int)
except rospy.exceptions.ROSException:
self.fail("Failed to launch nodes.")
finally:
p.shutdown()