unittest_pilz_industrial_motion_planner.test.py

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import launch_testing
import pytest
import unittest
 
from launch import LaunchDescription
from launch_ros.actions import Node
from launch_testing.util import KeepAliveProc
 
import sys
import os
 
sys.path.append(os.path.dirname(__file__))
from common_parameters import load_moveit_config
 
 
@pytest.mark.rostest
def generate_test_description():
    # Load the context
    test_config = load_moveit_config()
 
    planning_plugins = {
        "planning_plugins": ["pilz_industrial_motion_planner/CommandPlanner"]
    }
 
    # run test
    unittest_pilz_industrial_motion_planner = Node(
        package="pilz_industrial_motion_planner",
        executable="unittest_pilz_industrial_motion_planner",
        name="unittest_pilz_industrial_motion_planner",
        parameters=[
            test_config.to_dict(),
            planning_plugins,
        ],
        output="screen",
    )
    return (
        LaunchDescription(
            [
                unittest_pilz_industrial_motion_planner,
                KeepAliveProc(),
                launch_testing.actions.ReadyToTest(),
            ]
        ),
        {
            "unittest_pilz_industrial_motion_planner": unittest_pilz_industrial_motion_planner
        },
    )
 
 
class TestTerminatingProcessStops(unittest.TestCase):
    def test_gtest_run_complete(
        self, proc_info, unittest_pilz_industrial_motion_planner
    ):
        proc_info.assertWaitForShutdown(
            process=unittest_pilz_industrial_motion_planner, timeout=4000.0
        )
 
 
@launch_testing.post_shutdown_test()
class TestOutcome(unittest.TestCase):
    def test_exit_codes(self, proc_info, unittest_pilz_industrial_motion_planner):
        launch_testing.asserts.assertExitCodes(
            proc_info, process=unittest_pilz_industrial_motion_planner
        )