move_group_ompl_constraints.test.py

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import os
import sys
import unittest
 
import launch_testing.asserts
 
sys.path.append(os.path.dirname(__file__))
from move_group_launch_test_common import generate_move_group_test_description
 
 
def generate_test_description():
    return generate_move_group_test_description(
        gtest_name="move_group_ompl_constraints_test"
    )
 
 
class TestGTestProcessActive(unittest.TestCase):
    def test_gtest_run_complete(
        self,
        proc_info,
        ompl_constraint_test,
        run_move_group_node,
        static_tf,
        robot_state_publisher,
        ros2_control_node,
    ):
        proc_info.assertWaitForShutdown(ompl_constraint_test, timeout=4000.0)
 
 
@launch_testing.post_shutdown_test()
class TestGTestProcessPostShutdown(unittest.TestCase):
    def test_gtest_pass(
        self,
        proc_info,
        ompl_constraint_test,
        run_move_group_node,
        static_tf,
        robot_state_publisher,
        ros2_control_node,
    ):
        launch_testing.asserts.assertExitCodes(proc_info, process=ompl_constraint_test)