def test_launch_composable_node_without_component_name():
node = ComposableNodeContainer(package='rclcpp_components',
executable='component_container',
node_name=TEST_NODE_NAME,
node_namespace=TEST_NODE_NAMESPACE,
composable_node_descriptions=[
ComposableNode(
package='composition',
node_plugin='composition::Listener',
node_namespace=TEST_NODE_NAMESPACE)
],
output='screen')
ld = LaunchDescription([node])
context = _launch(ld)
assert get_node_name_count(context,
f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 1
# Unlike for Nodes, launch_ros is able to track component node names even when
# node_name is not provided for the component
assert get_node_name_count(context, f'{TEST_NODE_NAMESPACE}/listener') == 1
def test_launch_nodes_with_same_names(pytestconfig):
node1 = Node(
package='demo_nodes_py',
node_executable='listener_qos',
node_name=TEST_NODE_NAME,
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node2 = LifecycleNode(
package='lifecycle',
node_executable='lifecycle_listener',
node_name=TEST_NODE_NAME,
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node3 = ComposableNodeContainer(
package='rclcpp_components',
node_executable='component_container',
node_name=TEST_NODE_NAME,
node_namespace=TEST_NODE_NAMESPACE,
composable_node_descriptions=[
ComposableNode(
package='composition',
node_plugin='composition::Listener',
node_name=TEST_NODE_NAME
)
],
output='screen'
)
ld = LaunchDescription([node1, node2, node3])
context = _launch(ld)
captured = pytestconfig.pluginmanager.getplugin('capturemanager').read_global_capture()
assert get_node_name_count(context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 3
expected_line = f'there are now at least 3 nodes with the name {TEST_NODE_NAMESPACE}' \
f'/{TEST_NODE_NAME} created within this launch context'
assert expected_line in captured.out
assert get_node_name_count(context, f'/{TEST_NODE_NAME}') == 1
def test_launch_nodes_with_different_names():
node1 = Node(
package='demo_nodes_py',
executable='listener_qos',
node_name=f'{TEST_NODE_NAME}_1',
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node2 = LifecycleNode(
package='lifecycle',
executable='lifecycle_listener',
node_name=f'{TEST_NODE_NAME}_2',
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node3 = ComposableNodeContainer(
package='rclcpp_components',
executable='component_container',
node_name=f'{TEST_NODE_NAME}_3',
node_namespace=TEST_NODE_NAMESPACE,
composable_node_descriptions=[
ComposableNode(
package='composition',
node_plugin='composition::Listener',
node_name=f'{TEST_NODE_NAME}_4',
)
],
output='screen')
ld = LaunchDescription([node1, node2, node3])
context = _launch(ld)
assert get_node_name_count(
context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}_1') == 1
assert get_node_name_count(
context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}_2') == 1
assert get_node_name_count(
context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}_3') == 1
assert get_node_name_count(context, f'/{TEST_NODE_NAME}_4') == 1