4 from ament_index_python.packages
import get_package_share_directory
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, load_yaml
22 "pilz_industrial_motion_planner",
23 "config/unittest_trajectory_blender_transition_window.yaml",
26 testdata_file_name = {
28 "pilz_industrial_motion_planner"
30 +
"/test_data/prbt/testdata_sequence.xml"
34 unittest_trajectory_blender_transition_window = Node(
35 package=
"pilz_industrial_motion_planner",
36 executable=
"unittest_trajectory_blender_transition_window",
37 name=
"unittest_trajectory_blender_transition_window",
39 test_config.to_dict(),
48 unittest_trajectory_blender_transition_window,
50 launch_testing.actions.ReadyToTest(),
54 "unittest_trajectory_blender_transition_window": unittest_trajectory_blender_transition_window
61 self, proc_info, unittest_trajectory_blender_transition_window
63 proc_info.assertWaitForShutdown(
64 process=unittest_trajectory_blender_transition_window, timeout=4000.0
68 @launch_testing.post_shutdown_test()
70 def test_exit_codes(self, proc_info, unittest_trajectory_blender_transition_window):
71 launch_testing.asserts.assertExitCodes(
72 proc_info, process=unittest_trajectory_blender_transition_window
def test_exit_codes(self, proc_info, unittest_trajectory_blender_transition_window)
def test_gtest_run_complete(self, proc_info, unittest_trajectory_blender_transition_window)
def load_yaml(package_name, file_path)
def get_package_share_directory(pkg_name)
def generate_test_description()