planning_scene_monitor.test.py

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import os
import launch
import unittest
import launch_ros
import launch_testing
from ament_index_python.packages import get_package_share_directory
from moveit_configs_utils import MoveItConfigsBuilder
 
 
def generate_test_description():
    moveit_config = (
        MoveItConfigsBuilder("moveit_resources_panda")
        .robot_description(file_path="config/panda.urdf.xacro")
        .to_moveit_configs()
    )
 
    # ros2_control using FakeSystem as hardware
    ros2_controllers_path = os.path.join(
        get_package_share_directory("moveit_resources_panda_moveit_config"),
        "config",
        "ros2_controllers.yaml",
    )
    ros2_control_node = launch_ros.actions.Node(
        package="controller_manager",
        executable="ros2_control_node",
        parameters=[ros2_controllers_path],
        remappings=[
            ("/controller_manager/robot_description", "/robot_description"),
        ],
        output="screen",
    )
 
    joint_state_broadcaster_spawner = launch_ros.actions.Node(
        package="controller_manager",
        executable="spawner",
        arguments=[
            "joint_state_broadcaster",
            "--controller-manager-timeout",
            "300",
            "--controller-manager",
            "/controller_manager",
        ],
        output="screen",
    )
 
    panda_arm_controller_spawner = launch_ros.actions.Node(
        package="controller_manager",
        executable="spawner",
        arguments=["panda_arm_controller", "-c", "/controller_manager"],
    )
 
    psm_gtest = launch_ros.actions.Node(
        executable=launch.substitutions.PathJoinSubstitution(
            [
                launch.substitutions.LaunchConfiguration("test_binary_dir"),
                "planning_scene_monitor_test",
            ]
        ),
        parameters=[
            moveit_config.to_dict(),
        ],
        output="screen",
    )
 
    return launch.LaunchDescription(
        [
            launch.actions.TimerAction(period=2.0, actions=[ros2_control_node]),
            launch.actions.TimerAction(
                period=4.0, actions=[joint_state_broadcaster_spawner]
            ),
            launch.actions.TimerAction(
                period=6.0, actions=[panda_arm_controller_spawner]
            ),
            launch.actions.TimerAction(period=9.0, actions=[psm_gtest]),
            launch_testing.actions.ReadyToTest(),
        ]
    ), {
        "psm_gtest": psm_gtest,
    }
 
 
class TestGTestWaitForCompletion(unittest.TestCase):
    # Waits for test to complete, then waits a bit to make sure result files are generated
    def test_gtest_run_complete(self, psm_gtest):
        self.proc_info.assertWaitForShutdown(psm_gtest, timeout=4000.0)
 
 
@launch_testing.post_shutdown_test()
class TestGTestProcessPostShutdown(unittest.TestCase):
    # Checks if the test has been completed with acceptable exit codes (successful codes)
    # NOTE: This test currently terminates with exit code 11 in some cases.
    # Need to further look into this.
    def test_gtest_pass(self, proc_info, psm_gtest):
        launch_testing.asserts.assertExitCodes(
            proc_info, process=psm_gtest, allowable_exit_codes=[0, -11]
        )