def test_convert_attribute_is_find(self):
migrator = LaunchFileMigrator()
node_parameter = "$(find turtlebot3_navigation)/maps/map.yaml"
expected_result = "get_package_share_directory('turtlebot3_navigation') + '/maps/map.yaml'"
expected_include = "from ament_index_python.packages import get_package_share_directory"
self.assertEqual(expected_result,
migrator.convert_attribute(node_parameter))
self.assertTrue(expected_include in migrator.imports)
def test_convert_rosparam_elem_with_ns(self):
# Tests that rosparam's with a namespace are skipped
launch_file_xml = (
'<launch>\n'
'<rosparam ns="test/namespace" file="$(find book_world)/routes/route.yaml" command="load"/>\n'
'</launch>')
expected_parameters = []
migrator = LaunchFileMigrator()
xml_tree = etree.fromstring(launch_file_xml)
converted_parameters = migrator.convert_rosparam_elems(xml_tree)
self.assertEqual(converted_parameters, expected_parameters)
def test_convert_attribute_required(self):
# Tests that the 'required' node parameter is converted correctly
launch_file_xml = ('<launch>\n'
'<node pkg="my_package" required="true" />\n'
'</launch>')
expected_action = LaunchAction("Node", {
"package": "'my_package'",
"on_exit": "launch.actions.Shutdown()"
})
migrator = LaunchFileMigrator()
xml_tree = etree.fromstring(launch_file_xml)
converted_node = migrator.convert_node_elem(xml_tree[0])
self.assertEqual(converted_node, expected_action)
def test_convert_arg_elem_default(self):
# Tests that the 'default' arg attribute is turned into default_value in ROS2
launch_file_xml = (
'<launch>\n'
'<arg name="logger_node_name" default="my_logger" />\n'
'</launch>')
expected_action = LaunchAction("DeclareLaunchArgument", {
"name": "'logger_node_name'",
"default_value": "'my_logger'"
})
migrator = LaunchFileMigrator()
xml_tree = etree.fromstring(launch_file_xml)
converted_node = migrator.convert_arg_elem(xml_tree[0])
self.assertEqual(converted_node, expected_action)
def test_convert_rosparam_elem(self):
# Tests that rosparam's loading a file are converted into a file path for ROS2
# so that they can be added to a nodes param list
launch_file_xml = (
'<launch>\n'
'<rosparam file="$(find book_world)/routes/route.yaml" command="load"/>\n'
'</launch>')
expected_parameters = [
"get_package_share_directory('book_world') + '/routes/route.yaml'"
]
migrator = LaunchFileMigrator()
xml_tree = etree.fromstring(launch_file_xml)
converted_parameters = migrator.convert_rosparam_elems(xml_tree)
self.assertEqual(converted_parameters, expected_parameters)
def main():
parser = argparse.ArgumentParser(
description=
'Migrate a ROS1 XML Launch file to a ROS2 Python launch file.')
parser.add_argument(
'file_path',
metavar='file_path',
type=str,
help=
'Path to ROS1 launch file. New ROS2 launch file will be saved in the same location with .launch.py extension'
)
args = parser.parse_args()
file_path = args.file_path
converted_file_path = file_path + ".py"
file_contents = None
try:
with open(file_path, "r") as launch_file:
file_contents = launch_file.read()
except FileNotFoundError:
logging.error(f"Could not find file '{file_path}'.")
exit(1)
except PermissionError:
logging.error(
f"Could not open file '{file_path}', check file permissions.")
exit(1)
except Exception as e:
logging.error(e)
exit(1)
print(f"Converting file {file_path} to {converted_file_path}")
ros2LaunchFile = LaunchFileMigrator.migrate(file_contents)
with open(converted_file_path, "w") as output:
output.write(ros2LaunchFile)
def test_convert_node_elem(self):
launch_file_xml = (
"<launch>\n"
'<node pkg="my_package" type="the_type" name="the_node" output="screen" />\n'
'</launch>')
expected_action = LaunchAction(
"Node", {
"package": "'my_package'",
"node_executable": "'the_type'",
"node_name": "'the_node'",
"output": "'screen'"
})
migrator = LaunchFileMigrator()
xml_tree = etree.fromstring(launch_file_xml)
self.assertEqual(migrator.convert_node_elem(xml_tree[0]),
expected_action)
def test_convert_arg_elem_value(self):
# Tests that the 'value' arg attribute is turned into default_value in ROS2
launch_file_xml = (
'<launch>\n'
'<arg name="metrics_node_name" value="$(optenv METRICS_NODE_NAME my_node)" />\n'
'</launch>')
expected_action = LaunchAction(
"DeclareLaunchArgument", {
"name": "'metrics_node_name'",
"default_value":
"os.environ.get('METRICS_NODE_NAME', 'my_node')"
})
migrator = LaunchFileMigrator()
xml_tree = etree.fromstring(launch_file_xml)
converted_node = migrator.convert_arg_elem(xml_tree[0])
self.assertEqual(converted_node, expected_action)
def compare_complete_file_conversion(self, file_name):
self.maxDiff = None
test_dir = os.path.dirname(__file__)
input_launch_file = f"{test_dir}/fixtures/before/{file_name}.launch"
expected_launch_file = f"{test_dir}/fixtures/after/{file_name}.launch.py"
with open(input_launch_file, "r") as file_handle:
input_file_contents = file_handle.read()
with open(expected_launch_file, "r") as file_handle:
expected_file_contents = file_handle.read()
self.assertEqual(expected_file_contents,
LaunchFileMigrator.migrate(input_file_contents))
def test_convert_attribute_is_env(self):
migrator = LaunchFileMigrator()
node_parameter = "$(env LAUNCH_ID)"
expected_result = "os.environ.get('LAUNCH_ID')"
self.assertEqual(expected_result,
migrator.convert_attribute(node_parameter))
def test_convert_attribute_is_arg(self):
migrator = LaunchFileMigrator()
node_parameter = "$(arg node_name)"
expected_result = "launch.substitutions.LaunchConfiguration('node_name')"
self.assertEqual(expected_result,
migrator.convert_attribute(node_parameter))
def test_convert_attribute_string_with_apostraphe(self):
node_parameter = "This isn't a description"
expected_result = "\"This isn't a description\""
migrator = LaunchFileMigrator()
self.assertEqual(expected_result,
migrator.convert_attribute(node_parameter))
def test_convert_attribute_simple_string(self):
node_parameter = "my_node"
expected_result = "'my_node'"
migrator = LaunchFileMigrator()
self.assertEqual(expected_result,
migrator.convert_attribute(node_parameter))