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_generator_circ.yaml",
26 testdata_file_name = {
28 "pilz_industrial_motion_planner"
30 +
"/test_data/prbt/testdata_sequence.xml"
34 unittest_trajectory_generator_circ = Node(
35 package=
"pilz_industrial_motion_planner",
36 executable=
"unittest_trajectory_generator_circ",
37 name=
"unittest_trajectory_generator_circ",
39 test_config.to_dict(),
48 unittest_trajectory_generator_circ,
50 launch_testing.actions.ReadyToTest(),
53 {
"unittest_trajectory_generator_circ": unittest_trajectory_generator_circ},
59 proc_info.assertWaitForShutdown(
60 process=unittest_trajectory_generator_circ, timeout=4000.0
64 @launch_testing.post_shutdown_test()
67 launch_testing.asserts.assertExitCodes(
68 proc_info, process=unittest_trajectory_generator_circ
def test_exit_codes(self, proc_info, unittest_trajectory_generator_circ)
def test_gtest_run_complete(self, proc_info, unittest_trajectory_generator_circ)
def load_yaml(package_name, file_path)
def get_package_share_directory(pkg_name)
def generate_test_description()