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",
"config/unittest_trajectory_functions.yaml"
26 unittest_trajectory_functions = Node(
27 package=
"pilz_industrial_motion_planner",
28 executable=
"unittest_trajectory_functions",
29 name=
"unittest_trajectory_functions",
31 test_config.to_dict(),
39 unittest_trajectory_functions,
41 launch_testing.actions.ReadyToTest(),
44 {
"unittest_trajectory_functions": unittest_trajectory_functions},
50 proc_info.assertWaitForShutdown(
51 process=unittest_trajectory_functions, timeout=4000.0
55 @launch_testing.post_shutdown_test()
58 launch_testing.asserts.assertExitCodes(
59 proc_info, process=unittest_trajectory_functions
def test_exit_codes(self, proc_info, unittest_trajectory_functions)
def test_gtest_run_complete(self, proc_info, unittest_trajectory_functions)
def load_yaml(package_name, file_path)
def generate_test_description()