def test_multiple_launch_with_timers():
def generate_launch_description():
return launch.LaunchDescription([
RosTimer(period=1., actions=[]),
])
ls = launch.LaunchService()
ls.include_launch_description(generate_launch_description())
assert 0 == ls.run()
ls = launch.LaunchService()
ls.include_launch_description(generate_launch_description())
assert 0 == ls.run()
def test_timer_action_sanity_check():
"""Test that timer actions work (sanity check)."""
# This test is structured like test_shutdown_preempts_timers
# as a sanity check that the shutdown listener
# and other launch related infrastructure works as expected
shutdown_reasons = []
ld = launch.LaunchDescription([
launch.actions.OpaqueFunction(function=set_start_time),
RosTimer(period=1.,
actions=[
launch.actions.OpaqueFunction(function=set_end_time),
launch.actions.Shutdown(reason='One second timeout')
]),
_shutdown_listener_factory(shutdown_reasons),
])
ls = launch.LaunchService()
ls.include_launch_description(ld)
assert 0 == ls.run()
assert shutdown_reasons[0].reason == 'One second timeout'
# Verify that 1 sec has passed between start of test and timeout
tolerance = 0.1
assert (end_time - start_time) > 1 - tolerance
assert (end_time - start_time) < 1 + tolerance
def test_timer_can_block_preemption():
shutdown_reasons = []
ld = launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[sys.executable, '-c', 'while True: pass'], ),
launch.actions.TimerAction(
period=1.,
actions=[launch.actions.Shutdown(reason='fast shutdown')]),
launch.actions.TimerAction(
period=2.,
actions=[launch.actions.Shutdown(reason='slow shutdown')],
cancel_on_shutdown=
False # Preempted in test_shutdown_preempts_timers, but not here
),
_shutdown_listener_factory(shutdown_reasons),
])
ls = launch.LaunchService()
ls.include_launch_description(ld)
assert 0 == ls.run()
assert len(
shutdown_reasons) == 2 # Should see 'shutdown' event twice because
assert shutdown_reasons[0].reason == 'fast shutdown'
assert shutdown_reasons[1].reason == 'slow shutdown'
def launch_a_launch_file(*,
launch_file_path,
launch_file_arguments,
noninteractive=False,
args=None,
option_extensions={},
debug=False):
"""Launch a given launch file (by path) and pass it the given launch file arguments."""
for name in sorted(option_extensions.keys()):
option_extensions[name].prestart(args)
launch_service = launch.LaunchService(argv=launch_file_arguments,
noninteractive=noninteractive,
debug=debug)
parsed_launch_arguments = parse_launch_arguments(launch_file_arguments)
# Include the user provided launch file using IncludeLaunchDescription so that the
# location of the current launch file is set.
launch_description = launch.LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.AnyLaunchDescriptionSource(
launch_file_path),
launch_arguments=parsed_launch_arguments,
),
])
for name in sorted(option_extensions.keys()):
result = option_extensions[name].prelaunch(launch_description, args)
launch_description = result[0]
launch_service.include_launch_description(launch_description)
ret = launch_service.run()
for name in sorted(option_extensions.keys()):
option_extensions[name].postlaunch(ret, args)
return ret
def launch_a_python_launch_file(*,
python_launch_file_path,
launch_file_arguments,
debug=False):
"""Launch a given Python launch file (by path) and pass it the given launch file arguments."""
launch_service = launch.LaunchService(argv=launch_file_arguments,
debug=debug)
context = rclpy.context.Context()
rclpy.init(args=launch_file_arguments, context=context)
launch_service.include_launch_description(
launch_ros.get_default_launch_description(
prefix_output_with_name=False,
rclpy_context=context,
))
parsed_launch_arguments = parse_launch_arguments(launch_file_arguments)
# Include the user provided launch file using IncludeLaunchDescription so that the
# location of the current launch file is set.
launch_description = launch.LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
python_launch_file_path),
launch_arguments=parsed_launch_arguments,
),
])
launch_service.include_launch_description(launch_description)
ret = launch_service.run()
context = rclpy.shutdown(context=context)
return ret
def test_timer_with_launch_configuration():
def generate_launch_description():
return launch.LaunchDescription([
DeclareLaunchArgument('my_period', default_value='0.1'),
RosTimer(period=LaunchConfiguration('my_period'), actions=[]),
])
ls = launch.LaunchService()
ls.include_launch_description(generate_launch_description())
assert 0 == ls.run()
def test_multiple_launch_with_timers():
# Regression test for https://github.com/ros2/launch/issues/183
# Unfortunately, when things aren't working this test just hangs on the second call to
# ls.run
def generate_launch_description():
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[sys.executable, '-c', 'while True: pass'], ),
launch.actions.TimerAction(
period=1.,
actions=[launch.actions.Shutdown(reason='Timer expired')])
])
ls = launch.LaunchService()
ls.include_launch_description(generate_launch_description())
assert 0 == ls.run() # Always works
ls = launch.LaunchService()
ls.include_launch_description(generate_launch_description())
# Next line hangs forever before https://github.com/ros2/launch/issues/183 was fixed.
assert 0 == ls.run()
def test_shutdown_preempts_timers():
shutdown_reasons = []
ld = launch.LaunchDescription([
RosTimer(period=1.,
actions=[launch.actions.Shutdown(reason='fast shutdown')]),
RosTimer(period=2.,
actions=[launch.actions.Shutdown(reason='slow shutdown')]),
_shutdown_listener_factory(shutdown_reasons),
])
ls = launch.LaunchService()
ls.include_launch_description(ld)
assert 0 == ls.run()
assert len(shutdown_reasons) == 1
assert shutdown_reasons[0].reason == 'fast shutdown'
def setUpClass(cls):
# It's easier to actually capture some IO from the launch system than it is to fake it
# but it takes a few seconds. We'll do it once and run tests on the same captured
# IO
proc_env = os.environ.copy()
proc_env["PYTHONUNBUFFERED"] = "1"
cls.proc_output = ActiveIoHandler()
cls.proc_1 = launch.actions.ExecuteProcess(
cmd=[TEST_PROC_PATH],
env=proc_env
)
# This process should be distinguishable by its cmd line args
cls.proc_2 = launch.actions.ExecuteProcess(
cmd=[TEST_PROC_PATH, '--extra'],
env=proc_env
)
# This process should be distinguishable by its different name
cls.proc_3 = launch.actions.ExecuteProcess(
cmd=[TEST_PROC_PATH, 'node:=different_name'],
env=proc_env
)
launch_description = launch.LaunchDescription([
cls.proc_1,
cls.proc_2,
cls.proc_3,
# This plumbs all the output to our IoHandler just like the ApexRunner does
RegisterEventHandler(
OnProcessIO(
on_stdout=cls.proc_output.append,
on_stderr=cls.proc_output.append,
)
)
])
launch_service = launch.LaunchService()
launch_service.include_launch_description(launch_description)
launch_service.run()
def launch_a_python_launch_file(*,
python_launch_file_path,
launch_file_arguments,
debug=False):
"""Launch a given Python launch file (by path) and pass it the given launch file arguments."""
launch_service = launch.LaunchService(argv=launch_file_arguments,
debug=debug)
launch_service.include_launch_description(
launch_ros.get_default_launch_description(
prefix_output_with_name=False))
# Include the user provided launch file using IncludeLaunchDescription so that the
# location of the current launch file is set.
launch_description = launch.LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
python_launch_file_path))
])
launch_service.include_launch_description(launch_description)
return launch_service.run()
def setUpClass(cls):
# It's easier to actually capture some IO from the launch system than it is to fake it
# but it takes a few seconds. We'll do it once and run tests on the same captured
# IO
proc_env = os.environ.copy()
proc_env['PYTHONUNBUFFERED'] = '1'
cls.proc_output = ActiveIoHandler()
cls.proc_1 = launch.actions.ExecuteProcess(cmd=TEST_CMD,
name='terminating_proc',
env=proc_env)
# This process should be distinguishable by its cmd line args
cls.proc_2 = launch.actions.ExecuteProcess(cmd=TEST_CMD + ['--extra'],
name='terminating_proc',
env=proc_env)
# This process should be distinguishable by its different name
cls.proc_3 = launch.actions.ExecuteProcess(cmd=TEST_CMD +
['node:=different_name'],
name='terminating_proc',
env=proc_env)
launch_description = launch.LaunchDescription([
cls.proc_1,
cls.proc_2,
cls.proc_3,
# This plumbs all the output to our IoHandler just like the LaunchTestRunner does
RegisterEventHandler(
OnProcessStart(on_start=lambda event, _: cls.proc_output.track(
event.process_name))),
RegisterEventHandler(
OnProcessIO(
on_stdout=cls.proc_output.append,
on_stderr=cls.proc_output.append,
))
])
launch_service = launch.LaunchService()
launch_service.include_launch_description(launch_description)
launch_service.run()
def test_wait_for_wrong_message(self):
data = []
self.launch_description.add_entity(
launch.actions.RegisterEventHandler(
StdoutReadyListener(
target_action=self.terminating_proc,
ready_txt='not_ready',
actions=[
launch.actions.OpaqueFunction(
function=lambda context: data.append('ok'))
])))
launch_service = launch.LaunchService()
launch_service.include_launch_description(self.launch_description)
launch_service.run()
# We should not get confused by output that doesn't match the ready_txt
self.assertNotIn('ok', data)
def test_wait_for_ready(self):
data = []
self.launch_description.add_entity(
launch.actions.RegisterEventHandler(
StdoutReadyListener(
target_action=self.terminating_proc,
ready_txt='Ready',
actions=[
launch.actions.OpaqueFunction(
function=lambda context: data.append('ok'))
])))
launch_service = launch.LaunchService()
launch_service.include_launch_description(self.launch_description)
launch_service.run()
# If the StdoutReadyListener worked, we should see 'ok' in the data
self.assertIn('ok', data)
def launch_a_launch_file(*,
launch_file_path,
launch_file_arguments,
noninteractive=False,
args=None,
option_extensions={},
debug=False):
"""Launch a given launch file (by path) and pass it the given launch file arguments."""
for name in sorted(option_extensions.keys()):
option_extensions[name].prestart(args)
# If 'launch-prefix' launch file argument is also provided in the user input,
# the 'launch-prefix' option is applied since the last duplicate argument is used
if args and args.launch_prefix:
launch_file_arguments.append(f'launch-prefix:={args.launch_prefix}')
if args and args.launch_prefix_filter:
launch_file_arguments.append(
f'launch-prefix-filter:={args.launch_prefix_filter}')
launch_service = launch.LaunchService(argv=launch_file_arguments,
noninteractive=noninteractive,
debug=debug)
parsed_launch_arguments = parse_launch_arguments(launch_file_arguments)
# Include the user provided launch file using IncludeLaunchDescription so that the
# location of the current launch file is set.
launch_description = launch.LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.AnyLaunchDescriptionSource(
launch_file_path),
launch_arguments=parsed_launch_arguments,
),
])
for name in sorted(option_extensions.keys()):
result = option_extensions[name].prelaunch(launch_description, args)
launch_description = result[0]
launch_service.include_launch_description(launch_description)
ret = launch_service.run()
for name in sorted(option_extensions.keys()):
option_extensions[name].postlaunch(ret, args)
return ret
def test_wait_for_wrong_process(self):
data = []
self.launch_description.add_entity(
launch.actions.RegisterEventHandler(
StdoutReadyListener(
target_action=KeepAliveProc(
), # We never launched this process
ready_txt='Ready',
actions=[
launch.actions.OpaqueFunction(
function=lambda context: data.append('ok'))
])))
launch_service = launch.LaunchService()
launch_service.include_launch_description(self.launch_description)
launch_service.run()
# We should not get confused by output from another proc
self.assertNotIn('ok', data)
def test_shutdown_preempts_timers():
shutdown_reasons = []
ld = launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[sys.executable, '-c', 'while True: pass'], ),
launch.actions.TimerAction(
period=1.,
actions=[launch.actions.Shutdown(reason='fast shutdown')]),
launch.actions.TimerAction(
period=2.,
actions=[launch.actions.Shutdown(reason='slow shutdown')]),
_shutdown_listener_factory(shutdown_reasons),
])
ls = launch.LaunchService()
ls.include_launch_description(ld)
assert 0 == ls.run()
assert len(shutdown_reasons) == 1
assert shutdown_reasons[0].reason == 'fast shutdown'
def test_timer_action_sanity_check():
"""Test that timer actions work (sanity check)."""
# This test is structured like test_shutdown_preempts_timers and
# test_timer_can_block_preemption as a sanity check that the shutdown listener
# and other launch related infrastructure works as expected
shutdown_reasons = []
ld = launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[sys.executable, '-c', 'while True: pass'], ),
launch.actions.TimerAction(
period=1.,
actions=[launch.actions.Shutdown(reason='One second timeout')]),
_shutdown_listener_factory(shutdown_reasons),
])
ls = launch.LaunchService()
ls.include_launch_description(ld)
assert 0 == ls.run()
assert shutdown_reasons[0].reason == 'One second timeout'
def launch_a_launch_file(*,
launch_file_path,
launch_file_arguments,
debug=False):
"""Launch a given launch file (by path) and pass it the given launch file arguments."""
launch_service = launch.LaunchService(argv=launch_file_arguments,
debug=debug)
parsed_launch_arguments = parse_launch_arguments(launch_file_arguments)
# Include the user provided launch file using IncludeLaunchDescription so that the
# location of the current launch file is set.
launch_description = launch.LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.AnyLaunchDescriptionSource(
launch_file_path),
launch_arguments=parsed_launch_arguments,
),
])
launch_service.include_launch_description(launch_description)
ret = launch_service.run()
return ret
def test_timer_uses_sim_time(rclpy_node):
"""Test that timer uses time from /clock topic."""
# Create clock publisher node
publisher = rclpy_node.create_publisher(ClockMsg, '/clock', 10)
# Increment sim time by 100 every time callback is called
def timer_callback(publisher, time_msg):
time_msg.sec += 100
publisher.publish(ClockMsg(clock=time_msg))
# For every second of system time, publish new sim time value
callback_clock = Clock(clock_type=ClockType.SYSTEM_TIME)
time_msg = Time(sec=0, nanosec=0)
rclpy_node.create_timer(1,
partial(timer_callback, publisher, time_msg),
clock=callback_clock)
thread = threading.Thread(target=rclpy.spin,
args=(rclpy_node, ),
daemon=True)
thread.start()
ld = launch.LaunchDescription([
launch.actions.OpaqueFunction(function=set_start_time),
RosTimer(
period=200.,
actions=[launch.actions.OpaqueFunction(function=set_end_time)],
),
SetUseSimTime(
True) # Must be set to allow timer action to use sim time
])
ls = launch.LaunchService()
ls.include_launch_description(ld)
assert 0 == ls.run()
# Timer is using sim time which is 100x faster than system time,
# so 200 sec timer should finish in 2 sec
tolerance = 0.1
assert (end_time - start_time) > 2 - tolerance
assert (end_time - start_time) < 2 + tolerance
def test_emulate_tty(test_input, expected):
on_exit = OnExit()
ld = launch.LaunchDescription()
kwargs = {}
if isinstance(test_input, bool):
kwargs['emulate_tty'] = test_input
elif isinstance(test_input, str):
ld.add_action(
launch.actions.SetLaunchConfiguration('emulate_tty', test_input))
ld.add_action(
launch.actions.RegisterEventHandler(
launch.event_handlers.OnProcessExit(on_exit=on_exit.handle)))
ld.add_action(
launch.actions.ExecuteProcess(cmd=[
sys.executable,
'-c',
'import sys; sys.exit(sys.stdout.isatty())',
],
**kwargs))
ls = launch.LaunchService()
ls.include_launch_description(ld)
ls.run()
assert on_exit.returncode == expected
def main(argv=sys.argv[1:]):
"""Run lifecycle nodes via launch."""
ld = generate_launch_description()
ls = launch.LaunchService(argv=argv)
ls.include_launch_description(ld)
return ls.run()
def generate_launch_description(argv=sys.argv[1:]):
"""Run lifecycle nodes via launch."""
ld = launch.LaunchDescription()
# Prepare the marvel node.
marvel_node = launch_ros.actions.LifecycleNode(
node_name='marvelmind_nav',
package='marvelmind_nav',
node_executable='marvelmind_nav',
output='screen',
arguments=['/dev/ttyACM1', '9600'])
# When the marvel reaches the 'inactive' state, make it take the 'activate' transition.
register_event_handler_for_marvel_reaches_inactive_state = launch.actions.RegisterEventHandler(
launch_ros.event_handlers.OnStateTransition(
target_lifecycle_node=marvel_node,
goal_state='inactive',
entities=[
launch.actions.LogInfo(
msg=
"node 'marvelmind_nav' reached the 'inactive' state, 'activating'."
),
launch.actions.EmitEvent(
event=launch_ros.events.lifecycle.ChangeState(
lifecycle_node_matcher=launch.events.matches_action(
marvel_node),
transition_id=lifecycle_msgs.msg.Transition.
TRANSITION_ACTIVATE,
)),
],
))
# When the marvel node reaches the 'active' state, log a message
register_event_handler_for_marvel_reaches_active_state = launch.actions.RegisterEventHandler(
launch_ros.event_handlers.OnStateTransition(
target_lifecycle_node=marvel_node,
goal_state='active',
entities=[
launch.actions.LogInfo(
msg="node 'marvelmind_nav' reached the 'active' state.")
],
))
# Make the marvel node take the 'configure' transition.
emit_event_to_request_that_marvel_does_configure_transition = launch.actions.EmitEvent(
event=launch_ros.events.lifecycle.ChangeState(
lifecycle_node_matcher=launch.events.matches_action(marvel_node),
transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE,
)) # Add the actions to the launch description.
# The order they are added reflects the order in which they will be executed.
ld.add_action(register_event_handler_for_marvel_reaches_inactive_state)
ld.add_action(register_event_handler_for_marvel_reaches_active_state)
ld.add_action(marvel_node)
ld.add_action(emit_event_to_request_that_marvel_does_configure_transition)
# print('Starting introspection of launch description...')
# print('')
# print(launch.LaunchIntrospector().format_launch_description(ld))
print('')
print('Starting launch of launch description...')
print('')
# ls = launch.LaunchService(argv=argv, debug=True)
ls = launch.LaunchService(argv=argv)
ls.include_launch_description(ld)
return ld
def launch_service(event_loop):
"""Create an instance of the launch service for each test case."""
ls = launch.LaunchService()
yield ls
finalize_launch_service(ls, eprefix='When tearing down launch_service fixture')
# Wire up stdout from processes
def on_output(event: launch.Event) -> None:
for line in event.text.decode().splitlines():
print('[{}] {}'.format(
cast(launch.events.process.ProcessIO, event).process_name, line))
ld.add_action(launch_ros.actions.Node(
package='pirobot_base', node_executable='motor', output='screen',
parameters=[{"enable": 25, "forward": 23, "reverse": 24}]
))
ld.add_action(launch_ros.actions.Node(
package='pirobot_base', node_executable='motor', output='screen',
parameters=[{"enable": 17, "forward": 27, "reverse": 22}],
arguments=["Motor1:=Motor2"]
))
ld.add_action(launch_ros.actions.Node(
package='pirobot_base', node_executable='twoWheelDriving', output='screen',
parameters=[{"bias":0,
"turn_rate":50,
"max_speed":75}]
))
return ld
if __name__ == '__main__':
ls = launch.LaunchService(argv=sys.argv[1:])
ls.include_launch_description(generate_launch_description())
sys.exit(ls.run())
ld.add_action(
Node(package='tsim',
executable='requester',
name='requester',
output='screen',
additional_env={'PYTHONUNBUFFERED': '1'},
parameters=[parameter_path]))
ld.add_action(
Node(package='tsim',
executable='autopilot',
name='autopilot',
output='screen',
additional_env={'PYTHONUNBUFFERED': '1'},
prefix='xterm -e'))
return ld
if __name__ == '__main__':
ld = generate_launch_description()
print('Starting introspection of launch description...\n')
print(launch.LaunchIntrospector().format_launch_description(ld))
print('\nStarting launch of launch description...\n')
#ls = LaunchService(debug=True)
ls = launch.LaunchService()
ls.include_launch_description(ld)
ls.run(shutdown_when_idle=False)
def main(argv=sys.argv[1:]):
"""Main."""
ld = launch.LaunchDescription()
# Prepare the talker node.
talker_node = launch_ros.actions.LifecycleNode(
node_name='talker',
package='lifecycle',
node_executable='lifecycle_talker',
output='screen')
# When the talker reaches the 'inactive' state, make it take the 'activate' transition.
register_event_handler_for_talker_reaches_inactive_state = launch.actions.RegisterEventHandler(
launch_ros.event_handlers.OnStateTransition(
target_lifecycle_node=talker_node,
goal_state='inactive',
entities=[
launch.actions.LogInfo(
msg=
"node 'talker' reached the 'inactive' state, 'activating'."
),
launch.actions.EmitEvent(
event=launch_ros.events.lifecycle.ChangeState(
lifecycle_node_matcher=launch.events.matches_action(
talker_node),
transition_id=lifecycle_msgs.msg.Transition.
TRANSITION_ACTIVATE,
)),
],
))
# When the talker node reaches the 'active' state, log a message and start the listener node.
register_event_handler_for_talker_reaches_active_state = launch.actions.RegisterEventHandler(
launch_ros.event_handlers.OnStateTransition(
target_lifecycle_node=talker_node,
goal_state='active',
entities=[
launch.actions.LogInfo(
msg=
"node 'talker' reached the 'active' state, launching 'listener'."
),
launch_ros.actions.LifecycleNode(
node_name='listener',
package='lifecycle',
node_executable='lifecycle_listener',
output='screen'),
],
))
# Make the talker node take the 'configure' transition.
emit_event_to_request_that_talker_does_configure_transition = launch.actions.EmitEvent(
event=launch_ros.events.lifecycle.ChangeState(
lifecycle_node_matcher=launch.events.matches_action(talker_node),
transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE,
))
# Add the actions to the launch description.
# The order they are added reflects the order in which they will be executed.
ld.add_action(register_event_handler_for_talker_reaches_inactive_state)
ld.add_action(register_event_handler_for_talker_reaches_active_state)
ld.add_action(talker_node)
ld.add_action(emit_event_to_request_that_talker_does_configure_transition)
print('Starting introspection of launch description...')
print('')
print(launch.LaunchIntrospector().format_launch_description(ld))
print('')
print('Starting launch of launch description...')
print('')
# ls = launch.LaunchService(argv=argv, debug=True)
ls = launch.LaunchService(argv=argv)
ls.include_launch_description(get_default_launch_description())
ls.include_launch_description(ld)
return ls.run()
"""
Create launch description for starting SandboxedNodeContainer.
Two nodes are loaded into the sandboxed container: talker and listener. No operation is
performed since no sandboxing policy was defined.
"""
ld = launch.LaunchDescription()
ld.add_action(
launch_ros_sandbox.actions.SandboxedNodeContainer(
sandbox_name='my_sandbox',
policy=UserPolicy(run_as=User.from_username('dashing'), ),
node_descriptions=[
launch_ros_sandbox.descriptions.SandboxedNode(
package='demo_nodes_cpp',
node_executable='talker',
),
launch_ros_sandbox.descriptions.SandboxedNode(
package='demo_nodes_cpp', node_executable='listener')
]))
return ld
if __name__ == '__main__':
"""Starts the SandboxedNodeContainer example as a script."""
ls = launch.LaunchService(argv=sys.argv[1:], debug=True)
ls.include_launch_description(generate_launch_description())
sys.exit(ls.run())
