5 from launch
import LaunchDescription
6 from launch_ros.actions
import Node
7 from launch_testing.util
import KeepAliveProc
12 sys.path.append(os.path.dirname(__file__))
13 from common_parameters
import load_moveit_config
22 "planning_group":
"manipulator",
23 "target_link":
"prbt_tcp",
27 unittest_planning_context = Node(
28 package=
"pilz_industrial_motion_planner",
29 executable=
"unittest_planning_context",
30 name=
"unittest_planning_context",
32 test_config.to_dict(),
41 unittest_planning_context,
43 launch_testing.actions.ReadyToTest(),
46 {
"unittest_planning_context": unittest_planning_context},
52 proc_info.assertWaitForShutdown(
53 process=unittest_planning_context, timeout=4000.0
57 @launch_testing.post_shutdown_test()
60 launch_testing.asserts.assertExitCodes(
61 proc_info, process=unittest_planning_context
def test_exit_codes(self, proc_info, unittest_planning_context)
def test_gtest_run_complete(self, proc_info, unittest_planning_context)
def generate_test_description()