def test_set_param_with_node():
lc = MockContext()
node = Node(
package='asd',
executable='bsd',
name='my_node',
namespace='my_ns',
parameters=[{'asd': 'bsd'}]
)
set_param = SetParameter(name='my_param', value='my_value')
set_param.execute(lc)
node._perform_substitutions(lc)
expanded_parameter_files = node._Node__expanded_parameter_files
assert len(expanded_parameter_files) == 2
with open(expanded_parameter_files[0], 'r') as h:
expanded_parameters_dict = yaml.load(h, Loader=yaml.FullLoader)
assert expanded_parameters_dict == {
'/my_ns/my_node': {
'ros__parameters': {'my_param': 'my_value'}
}
}
with open(expanded_parameter_files[1], 'r') as h:
expanded_parameters_dict = yaml.load(h, Loader=yaml.FullLoader)
assert expanded_parameters_dict == {
'/my_ns/my_node': {
'ros__parameters': {'asd': 'bsd'}
}
}
def test_set_param_with_node():
lc = MockContext()
node = Node(package='asd',
executable='bsd',
name='my_node',
namespace='my_ns',
parameters=[{
'asd': 'bsd'
}])
set_param = SetParameter(name='my_param', value='my_value')
set_param.execute(lc)
node._perform_substitutions(lc)
actual_command = [
perform_substitutions(lc, item) for item in node.cmd
if type(item[0]) == TextSubstitution
]
assert actual_command.count('--params-file') == 1
assert actual_command.count('-p') == 1
param_cmdline_index = actual_command.index('-p') + 1
param_cmdline = actual_command[param_cmdline_index]
assert param_cmdline == 'my_param:=my_value'
param_file_index = actual_command.index('--params-file') + 1
param_file_path = actual_command[param_file_index]
assert os.path.isfile(param_file_path)
with open(param_file_path, 'r') as h:
expanded_parameters_dict = yaml.load(h, Loader=yaml.FullLoader)
assert expanded_parameters_dict == {
'/my_ns/my_node': {
'ros__parameters': {
'asd': 'bsd'
}
}
}
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_push_ros_namespace(config):
lc = LaunchContext()
if config.push_ns is not None:
pns1 = PushRosNamespace(config.push_ns)
pns1.execute(lc)
if config.second_push_ns is not None:
pns2 = PushRosNamespace(config.second_push_ns)
pns2.execute(lc)
node = Node(
package='dont_care',
executable='whatever',
node_namespace=config.node_ns,
)
node._perform_substitutions(lc)
expected_ns = config.expected_ns if config.expected_ns is not None else ''
assert expected_ns == node.expanded_node_namespace
def test_push_ros_namespace(config):
lc = LaunchContext()
if config.push_ns is not None:
pns1 = PushRosNamespace(config.push_ns)
pns1.execute(lc)
if config.second_push_ns is not None:
pns2 = PushRosNamespace(config.second_push_ns)
pns2.execute(lc)
node = Node(package='dont_care',
executable='whatever',
namespace=config.node_ns,
name=config.node_name)
node._perform_substitutions(lc)
expected_ns = (config.expected_ns if config.expected_ns is not None else
Node.UNSPECIFIED_NODE_NAMESPACE)
expected_name = (config.node_name if config.node_name is not None else
Node.UNSPECIFIED_NODE_NAME)
expected_fqn = expected_ns.rstrip('/') + '/' + expected_name
assert expected_ns == node.expanded_node_namespace
assert expected_fqn == node.node_name
