def test_launch_description_add_things():
"""Test adding things to the LaunchDescription class."""
ld = LaunchDescription()
assert len(ld.entities) == 0
ld.add_entity(LaunchDescription())
assert len(ld.entities) == 1
ld.add_action(Action())
assert len(ld.entities) == 2
def generate_launch_description():
talker = Node(package='jvr_basic', executable='talker')
listener = Node(package='jvr_basic', executable='listener')
launcher = LaunchDescription()
launcher.add_entity(talker)
launcher.add_entity(listener)
return launcher
def generate_launch_description():
ld = LaunchDescription()
arg = DeclareLaunchArgument("bagfile")
# this is a bad way to get the launch file
bag_file = sys.argv[-1]
bag_process = ExecuteProcess(
cmd=['ros2', 'bag', 'play', launch.substitutions.LaunchConfiguration("bagfile")]
)
ekf_node = Node(
package="robot_projects_ekf_localization",
executable="ekf_localization",
output={"both": "screen"},
parameters=[
{'filter_type':'ekf'}
]
)
vis_node = Node(
package="rviz2",
executable="rviz2",
arguments=["-d", os.path.join(get_package_share_directory("robot_projects_ekf_localization"), "config", "ekf_sim_world.rviz")],
output={"both": "screen"}
)
# get params file for eval node
parameters_file_name = "ekf_evaluate_params.yaml"
parameters_file_path = str(pathlib.Path(__file__).parents[1]) # get current path and go one level up
parameters_file_path += '/config/' + parameters_file_name
print(parameters_file_path)
eval_node = Node(
package="robot_projects_ekf_localization",
executable="ekf_evaluation",
parameters=[
parameters_file_path
]
)
ld.add_action(ekf_node)
ld.add_action(eval_node)
ld.add_action(bag_process)
ld.add_entity(vis_node)
ld.add_entity(arg)
return ld
def generate_launch_description():
"""Launch file for gritsbot in Gazebo."""
# Get input arguments
input_args = get_args()
pos_y = '1.45'
neg_y = '-1.45'
def_z = '0.91'
x_val = [
0.3 * -1, 0.3 * -2, 0.3 * -3, 0.3 * -4, 0.3 * -5, 0.3 * 0.0, 0.3 * 1,
0.3 * 2, 0.3 * 3, 0.3 * 4, 0.3 * 5
]
# use_sim_time = LaunchConfiguration('use_sim_time', default='true')
worlds_file_path = os.path.join(
get_package_share_directory('robotarium_gazebo'), 'worlds',
'robotarium/robotarium.world')
rclpy.logging.get_logger('Launch File').info(worlds_file_path)
sdf_file_path = os.path.join(
get_package_share_directory('robotarium_gazebo'), 'models',
'gritsbotx/model.sdf')
rclpy.logging.get_logger('Launch File').info(sdf_file_path)
experiment_launch_description = LaunchDescription([
ExecuteProcess(cmd=[
'gazebo', '--verbose', worlds_file_path, '-s',
'libgazebo_ros_factory.so'
],
output='screen'),
])
for i in range(11):
experiment_launch_description.add_entity(
Node(
package='robotarium_bringup',
executable='spawn_gritsbotx',
name='test_spawn',
output='screen',
namespace='',
arguments=[
f'robot_{i}', # Name
f'gb_{i}', # Namespace
str(x_val[i]), # X
pos_y, # Y
def_z, # Z
'0', # Roll
'0', # Pitch
'-1.57', # Yaw
]))
for i in range(11):
experiment_launch_description.add_entity(
Node(
package='robotarium_bringup',
executable='spawn_gritsbotx',
name='test_spawn',
output='screen',
namespace='',
arguments=[
f'robot_{i + 11}', # Name
f'gb_{i + 11}', # Namespace
str(x_val[i]), # X
neg_y, # Y
def_z, # Z
'0', # Roll
'0', # Pitch
'1.57', # Yaw
]))
return experiment_launch_description
class TestStdoutReadyListener(unittest.TestCase):
def setUp(self):
# Set up a launch description for the tests to use
node_env = os.environ.copy()
node_env["PYTHONUNBUFFERED"] = "1"
self.launch_description = LaunchDescription([
Node(package='apex_rostest',
node_executable='terminating_node',
env=node_env)
])
def test_wait_for_ready(self):
data = []
self.launch_description.add_entity(
RegisterEventHandler(
StdoutReadyListener(
node_name="terminating_node",
ready_txt="Ready",
actions=[
OpaqueFunction(
function=lambda context: data.append('ok'))
])))
launch_service = 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 test_wait_for_wrong_process(self):
data = []
self.launch_description.add_entity(
RegisterEventHandler(
StdoutReadyListener(
node_name="different_node",
ready_txt="Ready",
actions=[
OpaqueFunction(
function=lambda context: data.append('ok'))
])))
launch_service = LaunchService()
launch_service.include_launch_description(self.launch_description)
launch_service.run()
# We should not get confused by output from another node
self.assertNotIn('ok', data)
def test_wait_for_wrong_message(self):
data = []
self.launch_description.add_entity(
RegisterEventHandler(
StdoutReadyListener(
node_name="different_node",
ready_txt="not_ready",
actions=[
OpaqueFunction(
function=lambda context: data.append('ok'))
])))
launch_service = 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)
