def test_set_remap_is_scoped():
lc = LaunchContext()
push_conf = PushLaunchConfigurations()
pop_conf = PopLaunchConfigurations()
set_remap = SetRemap('from', 'to')
push_conf.execute(lc)
set_remap.execute(lc)
assert lc.launch_configurations == {'ros_remaps': [('from', 'to')]}
pop_conf.execute(lc)
assert lc.launch_configurations == {}
def test_set_remap_with_node():
lc = MockContext()
node = Node(package='asd',
executable='bsd',
name='my_node',
namespace='my_ns',
remappings=[('from2', 'to2')])
set_remap = SetRemap('from1', 'to1')
set_remap.execute(lc)
node._perform_substitutions(lc)
assert len(node.expanded_remapping_rules) == 2
assert node.expanded_remapping_rules == [('from1', 'to1'),
('from2', 'to2')]
def test_set_remap_with_composable_node():
lc = MockContext()
node_description = ComposableNode(package='asd',
plugin='my_plugin',
name='my_node',
namespace='my_ns',
remappings=[('from2', 'to2')])
set_remap = SetRemap('from1', 'to1')
set_remap.execute(lc)
request = get_composable_node_load_request(node_description, lc)
remappings = request.remap_rules
assert len(remappings) == 2
assert remappings[0] == 'from1:=to1'
assert remappings[1] == 'from2:=to2'
def test_load_node_with_global_remaps_in_group(mock_component_container):
"""Test loading a node with global remaps scoped to a group."""
context = _assert_launch_no_errors([
GroupAction(
[
SetRemap('chatter', 'new_topic_name'),
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='test_node_name',
namespace='test_node_namespace'
),
],
scoped=True,
),
])
# Check that launch is aware of loaded component
assert get_node_name_count(context, '/test_node_namespace/test_node_name') == 1
# Check that container recieved correct request
assert len(mock_component_container.requests) == 1
request = mock_component_container.requests[0]
assert request.package_name == 'foo_package'
assert request.plugin_name == 'bar_plugin'
assert request.node_name == 'test_node_name'
assert request.node_namespace == '/test_node_namespace'
assert len(request.remap_rules) == 1
assert request.remap_rules[0] == 'chatter:=new_topic_name'
assert len(request.parameters) == 0
assert len(request.extra_arguments) == 0
def test_set_remap(remapping_rules):
lc = MockContext()
for src, dst in remapping_rules:
SetRemap(src, dst).execute(lc)
assert lc.launch_configurations == {'ros_remaps': remapping_rules}