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
15 ParameterBuilder(
"moveit_kinematics")
16 .yaml(
"config/panda-lma-singular-test.yaml")
20 panda_lma_singular = Node(
21 package=
"moveit_kinematics",
22 executable=
"test_kinematics_plugin",
23 name=
"panda_lma_singular",
36 launch_testing.actions.ReadyToTest(),
39 {
"panda_lma_singular": panda_lma_singular},
45 proc_info.assertWaitForShutdown(process=panda_lma_singular, timeout=4000.0)
48 @launch_testing.post_shutdown_test()
51 launch_testing.asserts.assertExitCodes(proc_info)
def test_exit_codes(self, proc_info)
def test_gtest_run_complete(self, proc_info, panda_lma_singular)
def generate_test_description()