4 from launch
import LaunchDescription
5 from launch_ros.actions
import Node
6 from launch_testing.util
import KeepAliveProc
7 from moveit_configs_utils
import MoveItConfigsBuilder
8 from launch_param_builder
import ParameterBuilder
17 ParameterBuilder(
"moveit_kinematics")
18 .yaml(
"config/panda-kdl-singular-test.yaml")
22 panda_kdl_singular = Node(
23 package=
"moveit_kinematics",
24 executable=
"test_kinematics_plugin",
25 name=
"panda_kdl_singular",
38 launch_testing.actions.ReadyToTest(),
41 {
"panda_kdl_singular": panda_kdl_singular},
47 proc_info.assertWaitForShutdown(process=panda_kdl_singular, timeout=4000.0)
50 @launch_testing.post_shutdown_test()
53 launch_testing.asserts.assertExitCodes(proc_info)
def test_exit_codes(self, proc_info)
def test_gtest_run_complete(self, proc_info, panda_kdl_singular)
def generate_test_description()