launch_testing package from launch repolaunch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing |
|
Package Summary
Tags | No category tags. |
Version | 1.0.7 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/launch.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2024-11-25 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Aditya Pande
- Michel Hidalgo
Authors
- Dirk Thomas
- Esteve Fernandez
- Pete Baughman
- William Woodall
launch_testing
This tool is a framework for launch integration testing. For example:
- The exit codes of all processes are available to the tests.
- Tests can check that all processes shut down normally, or with specific exit codes.
- Tests can fail when a process dies unexpectedly.
- The stdout and stderr of all processes are available to the tests.
- The command-line used to launch the processes are avilalbe to the tests.
- Some tests run concurrently with the launch and can interact with the running processes.
Quick start example
Start with the launch_testing
example good_proc_launch_test.py
.
Run the example by doing:
launch_test test/launch_testing/examples/good_proc_launch_test.py
launch_test
will launch the nodes found in the generate_test_description
function, run the tests from the TestGoodProcess
class, shut down the launched nodes, and then run the tests from the TestProcessOutput
class.
The Launch Description
def generate_test_description():
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[path_to_process],
),
# Start tests right away - no need to wait for anything in this example.
# In a more complicated launch description, we might want this action happen
# once some process starts or once some other event happens
launch_testing.actions.ReadyToTest()
])
The generate_test_description
function should return a launch.LaunchDescription
object that launches the system to be tested.
The launch description needs to include a ReadyToTest
action to signal to the test framework that it’s safe to start the active tests.
In the above example, there is no need to delay the start of the tests so the ReadyToTest
action is a peer to the process under test and will signal to the framework that it’s safe to start around the same time the ExecuteProcess
action is run.
Active Tests
Any classes that inherit from unittest.TestCase
and not decorated with the post_shutdown_test
descriptor will be run concurrently with the proccess under test.
These tests are expected to interact with the running processes in some way.
Post-Shutdown Tests
Any classes that inherit from unittest.TestCase
that are decorated with the post_shutdown_test
descriptor will be run after the launched processes have been shut down.
These tests have access to the exit codes and the stdout of all of the launched processes, as well as any data created as a side-effect of running the processes.
Exit Codes and Standard Out
The launch_testing
framework automatically adds some member fields to each test case so that the tests can access process output and exit codes.
-
self.proc_info
- a ProcInfoHandler object -
self.proc_output
- an IoHandler object
These objects provide dictionary like access to information about the running processes. They also contain methods that the active tests can use to wait for a process to exit or to wait for specific output.
Assertions
The launch_testing
framework automatically records all stdout from the launched processes as well as the exit codes from any processes that are launched.
This information is made available to the tests via the proc_info
and proc_output
object.
These objects can be used by one of several assert methods to check the output or exit codes of the process:
launch_testing.asserts.assertInStdout(proc_output, msg, process, cmd_args=None, *, strict_proc_matching=True)
Asserts that a message is found in the stdout of a particular process.
-
msg
:The text to look for in the process standard out
-
process
:Either the process name as a string, or a
launch.actions.ExecuteProcess
object that was used to start the process. PassNone
or an empty string to search all processes. -
cmd_args
:When looking up processes by process by name,
cmd_args
can be used to disambiguate multiple processes with the same name. -
strict_proc_matching
:When looking up a process by name,
strict_proc_matching=True
will make it an error to match multiple processes. This prevents an assert from accidentally passing if the output came from a different process than the one the user was expecting.
launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[EXIT_OK], process, cmd_args=None, *, strict_proc_matching=True)
Asserts that the specified processes exited with a particular exit code.
-
allowable_exit_codes
:A list of allowable exit codes. By default
EXIT_OK
(0) plusEXIT_FORCED
(1) on Windows. Other exit codes provided areEXIT_SIGINT
(130),EXIT_SIGQUIT
(131),EXIT_SIGKILL
(137) andEXIT_SIGSEGV
(139). -
The
process
,cmd_args
, andstrict_proc_matching
arguments behave the same way as inassertInStdout
. By default, assert on the exit codes of all processes.
launch_testing.asserts.assertSequentialStdout(proc_output, process, cmd_args=None)
Asserts that standard out was seen in a particular order.
-
process
andcmd_args
:These arguments are the same as in
assertInStdout
andassertExitCodes
, however it is not possible to match multiple processes because there is no way to determine the order of stdout that came from multiple processes.
Returns a context manager that will check that a series of assertions happen in order.
As an example, consider:
with assertSequentialStdout(self.proc_output, "proc_name") as cm:
cm.assertInStdout("Loop 1")
cm.assertInStdout("Loop 2")
cm.assertInStdout("Loop 3")
Waiting for Output or Exit Codes
The ActiveTests
can also call methods that wait for particular output or a particular process to exit or time out.
These asserts are methods on the proc_output
and proc_info
objects.
proc_output.assertWaitFor(msg, process=None, cmd_args=None, *, strict_proc_matching=True, timeout=10)
-
msg
,process
,cmd_args
, andstrict_proc_matching
:These arguments work the same as in other assert methods. By default, this method waits on output from any process.
-
timeout
:The amount of time to wait before raising an
AssertionError
.
proc_info.assertWaitForShutdown(process, cmd_args=None, *, timeout=10)
-
process
andcmd_args
:These arguments work the same as in other assertions, but it is not possible to wait on multiple processes to shut down.
-
timeout
:The amount of time to wait before raising an
AssertionError
Arguments
launch_test
uses launch arguments for tests too.
Arguments are declared in the launch description and can be accessed by the test via a test_args
dictionary that’s injected into the tests similar to proc_info
and proc_output
.
launch_test --show-args test/launch_testing/examples/args_launch_test.py
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=value
See the launch_testing example with arguments for further reference.
Using CMake
To run launch tests from a CMakeLists.txt file, you’ll need to declare a dependency on
launch_testing_ament_cmake
in your package.xml
.
Then, in the CMakeLists.txt file, add:
find_package(launch_testing_ament_cmake)
add_launch_test(test/name_of_test.test.py)
Arguments can be passed to the tests via the CMake function, too:
add_launch_test(
test/test_with_args.test.py
ARGS "arg1:=foo"
)
Examples
hello_world_launch_test.py
Usage:
launch_test test/launch_testing/examples/hello_world_launch_test.py
This test is a simple example on how to use the launch_testing
.
It launches a process and asserts that it prints “hello_world” to stdout
using proc_output.assertWaitFor()
.
Finally, it checks if the process exits normally (zero exit code).
The @launch_testing.markers.keep_alive
decorator ensures that the launch process stays alive long enough for the tests to run.
good_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/good_proc_launch_test.py
This test checks a process called good_proc.py (source found in the example_processes folder). good_proc.py is a simple python process that prints “Loop 1, Loop2, etc. every second until it’s terminated with ctrl+c. The test will launch the process, wait for a few loops to complete by monitoring stdout, then terminate the process and run some post-shutdown checks.
The pre-shutdown tests check that “Loop 1, Loop 2, Loop 3, Loop 4” are all printed to stdout. Once this test finishes, the process under test is shut down
After shutdown, we run a similar test that checks more output, and also checks the
order of the output. test_out_of_order
demonstrates that the assertSequentialStdout
context manager is able to detect out of order stdout.
terminating_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/terminating_proc_launch_test.py
This test checks proper functionality of the terminating_proc example (source found in the example_processes folder).
args_launch_test.py
Usage to view the arguments:
launch_test test/launch_testing/examples/args_launch_test.py --show-args
Usage to run the test:
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=hey
This example shows how to pass arguments into a launch test.
The arguments are made available in the launch description via a launch.substitutions.LaunchConfiguration
.
The arguments are made available to the test cases via a self.test_args
dictionary
This example will fail if no arguments are passed.
context_launch_test.py
Usage:
launch_test test/launch_testing/examples/context_launch_test.py
This example shows how the generate_test_description
function can return a tuple where the second
item is a dictionary of objects that will be injected into the individual test cases.
Tests that wish to use elements of the test context can add arguments with names matching the keys of the dictionary.
Changelog for package launch_testing
1.0.7 (2024-11-25)
1.0.6 (2024-05-17)
1.0.5 (2024-02-16)
1.0.4 (2023-01-10)
- Allow ReadyToTest() usage in event handler (#681)
- Inherit markers from generate_test_description (#670) (#674)
- Contributors: Nikolai Morin, mergify[bot]
1.0.3 (2022-10-18)
- Fix Typo (#641) (#644)
- Switch to using a comprehension for process_names. (#614) (#615)
- Contributors: mergify[bot]
1.0.2 (2022-05-10)
1.0.1 (2022-04-13)
1.0.0 (2022-04-12)
- Removed the deprecated [ready_fn]{.title-ref} feature (#589)
- Contributors: William Woodall
0.23.1 (2022-04-08)
0.23.0 (2022-03-30)
0.22.0 (2022-03-28)
0.21.1 (2022-03-01)
- Added case for instances of ExecuteLocal in resolveProcess function (#587)
- Add compatitibility with pytest 7 (#592)
- Contributors: Matt Lanting, Shane Loretz
0.21.0 (2022-01-14)
- Renamed three files from example_processes (#573)
- Fix launch_testing README.md proc keyword to process. (#554) (#560)
- Contributors: Jacob Perron, Khush Jain
0.20.0 (2021-11-29)
- Declare frontend group dependency & use explicit dependencies in launch_testing (#520)
- Update maintainers to Aditya Pande and Michel Hidalgo (#559)
- Updated maintainers (#555)
- First prototype of native pytest plugin for launch based tests (#528)
- Adding Executable description class (#454)
- Add a "hello world" style example (#532)
- Contributors: Aditya Pande, Audrow Nash, Christophe Bedard, Ivan Santiago Paunovic, roger-strain
0.19.0 (2021-07-15)
0.18.0 (2021-06-18)
0.17.0 (2021-04-06)
0.16.0 (2021-03-19)
- Use unittest.mock instead of mock (#487)
- Contributors: Michel Hidalgo
0.15.0 (2021-01-25)
0.14.0 (2020-12-08)
0.13.0 (2020-11-04)
- Update package maintainers (#465)
- Contributors: Michel Hidalgo
0.12.0 (2020-08-18)
0.11.1 (2020-08-14)
0.11.0 (2020-08-04)
- Disable cleanup of test cases once they have been run (#406)
- Fix max() with empty sequence (#440)
- Use unittest.TestCase.id() for pytest failure reprs. (#436)
- Use unittest.TestCase.id() to put together jUnit XML output. (#435)
- Claim ownership (#433)
- Contributors: Dirk Thomas, Michel Hidalgo, Scott K Logan, William Woodall
0.10.2 (2020-05-26)
- Set junit_family to xunit2 in pytest.ini
- Stop using implicit variables in example testing.
- Switch to from_parent to remove deprecation warning.
- Fix new flake8 errors. (#420)
- Remove uses of deprecated ready_fn. (#419)
- Contributors: Chris Lalancette, Michel Hidalgo
0.10.1 (2020-05-08)
- fixed depcrecation warning of imp to importlib (issue #387) (#407)
- wait_for_ouput() repr includes actual text (#408)
- Contributors: Shane Loretz, Zahi Kakish
0.10.0 (2020-04-24)
- Improve jUnit output for launch tests when run with py.test (#404)
- avoid deprecation warning, use from_parent (#402)
- Warn that old-style ready_fn and test attributes will be deprecated (#346)
- more verbose test_flake8 error messages (same as ros2/launch_ros#135)
- stop using constructors deprecated in pytest 5.4 (#391)
- Add the ability to assert in stdout or stderr. (#378)
- Add delay parameter to retry_on_failure decorator (#390)
- Make RegisterEventHandler describe its sub-entities (#386)
- Import test file without contaminating sys.modules (#360)
- Update reference to example launch test file (#363)
- Use imperative mood in docstrings. (#362)
- Fix a documentation typo. (#361)
- Fix junit XML when launch dies early (#358)
- Contributors: Chris Lalancette, Dan Rose, Dirk Thomas, Jacob Perron, Michel Hidalgo, Peter Baughman, Steven! Ragnarök
0.9.5 (2019-11-13)
- Make launch_testing.markers.retry_on_failure decorator more robust. (#352)
- Contributors: Michel Hidalgo
0.9.4 (2019-11-08)
- Fix a small typo in the launch_testing README. (#351)
- Contributors: Chris Lalancette
0.9.3 (2019-10-23)
0.9.2 (2019-10-23)
- Support launch test reruns when using pytest (#348)
- Support CLI commands testing (#279)
- Contributors: Michel Hidalgo
0.9.1 (2019-09-25)
- Optionally remove ready fn arg from generate_test_description (#322)
- Contributors: Michel Hidalgo, Peter Baughman
0.9.0 (2019-09-18)
- install package manifest (#330)
- Unindent setup.cfg options. (#326)
- Use renamed remove_ansi_escape_sequences. (#302)0
- Enable launch test discovery in pytest (#312)
- Support LaunchService injection into pre-shutdown tests. (#308)
- Add assertWaitForStartup method to match assertWaitForShutdown (#278)
- Fix a simple typo in an error message. (#301)
- Fix launch_testing output filtering (#296)
- Revert "Revert "[execute_process] emulate_tty configurable and defaults to true"" (#277)
- Fix formatting (#262)
- Fix proc lookup for processes with multiple command-line arguments (#229)
- Remove ros domain ID dependency (#256)
- Contributors: Chris Lalancette, Dirk Thomas, Esteve Fernandez, Michel Hidalgo, Peter Baughman, William Woodall, ivanpauno
0.8.3 (2019-05-29)
- Changed behavior to use
--isolated
if noROS_DOMAIN_ID
is set to help parallel testing. (#251) - Contributors: Peter Baughman
0.8.2 (2019-05-20)
- add non-asserting waitFor method (#243)
- Enable reuse of launch testing functionality (#236)
- Stop randomizing ROS_DOMAIN_ID by default in launch tests (#240)
- Contributors: Dirk Thomas, Michel Hidalgo
0.8.1 (2019-05-08)
0.8.0 (2019-04-13)
- Added test actions. (#178)
- Fixed test_env_testing test (#200)
- Dropped legacy launch package. (#191)
- Migrated legacy launch API tests. (#167)
- Contributors: Dirk Thomas, Michel Hidalgo, ivanpauno
0.7.3 (2018-12-13)
0.7.2 (2018-12-06)
0.7.1 (2018-11-16)
- Fixed setup.py versions (#155)
- Contributors: Steven! Ragnarök
0.7.0 (2018-11-16)
- Fixed lint warnings from invalid escape sequences (#151) Use raw strings for regex patterns to avoid warnings.
- Fixed linter errors from #131. (#132)
- Added class to provide some limitted testing options (#131)
- Moved
launch_testing
intolaunch_testing.legacy
namespace (#130) - Contributors: Dirk Thomas, Jacob Perron, Steven! Ragnarök
0.6.0 (2018-08-20)
0.5.2 (2018-07-17)
0.5.1 (2018-06-27)
0.5.0 (2018-06-19)
- Updated to use new launch.legacy namespace (#73)
- Contributors: Dirk Thomas, Mikael Arguedas, William Woodall
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
ament_index_python | |
launch | |
launch_xml | |
launch_yaml | |
osrf_pycommon | |
ament_copyright | |
ament_flake8 | |
ament_pep257 |
System Dependencies
Name |
---|
python3-pytest |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_testing at Robotics Stack Exchange
launch_testing package from launch repolaunch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing |
|
Package Summary
Tags | No category tags. |
Version | 2.0.4 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/launch.git |
VCS Type | git |
VCS Version | iron |
Last Updated | 2024-06-24 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Aditya Pande
- Brandon Ong
- William Woodall
Authors
- Dirk Thomas
- Esteve Fernandez
- Michel Hidalgo
- Pete Baughman
- William Woodall
launch_testing
This tool is a framework for launch integration testing. For example:
- The exit codes of all processes are available to the tests.
- Tests can check that all processes shut down normally, or with specific exit codes.
- Tests can fail when a process dies unexpectedly.
- The stdout and stderr of all processes are available to the tests.
- The command-line used to launch the processes are available to the tests.
- Some tests run concurrently with the launch and can interact with the running processes.
Quick start example
Start with the launch_testing
example good_proc_launch_test.py
.
Run the example by doing:
launch_test test/launch_testing/examples/good_proc_launch_test.py
launch_test
will launch the nodes found in the generate_test_description
function, run the tests from the TestGoodProcess
class, shut down the launched nodes, and then run the tests from the TestProcessOutput
class.
The Launch Description
def generate_test_description():
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[path_to_process],
),
# Start tests right away - no need to wait for anything in this example.
# In a more complicated launch description, we might want this action happen
# once some process starts or once some other event happens
launch_testing.actions.ReadyToTest()
])
The generate_test_description
function should return a launch.LaunchDescription
object that launches the system to be tested.
The launch description needs to include a ReadyToTest
action to signal to the test framework that it’s safe to start the active tests.
In the above example, there is no need to delay the start of the tests so the ReadyToTest
action is a peer to the process under test and will signal to the framework that it’s safe to start around the same time the ExecuteProcess
action is run.
Active Tests
Any classes that inherit from unittest.TestCase
and not decorated with the post_shutdown_test
descriptor will be run concurrently with the process under test.
These tests are expected to interact with the running processes in some way.
Post-Shutdown Tests
Any classes that inherit from unittest.TestCase
that are decorated with the post_shutdown_test
descriptor will be run after the launched processes have been shut down.
These tests have access to the exit codes and the stdout of all of the launched processes, as well as any data created as a side-effect of running the processes.
Exit Codes and Standard Out
The launch_testing
framework automatically adds some member fields to each test case so that the tests can access process output and exit codes.
-
self.proc_info
- a ProcInfoHandler object -
self.proc_output
- an IoHandler object
These objects provide dictionary like access to information about the running processes. They also contain methods that the active tests can use to wait for a process to exit or to wait for specific output.
Assertions
The launch_testing
framework automatically records all stdout from the launched processes as well as the exit codes from any processes that are launched.
This information is made available to the tests via the proc_info
and proc_output
object.
These objects can be used by one of several assert methods to check the output or exit codes of the process:
launch_testing.asserts.assertInStdout(proc_output, msg, process, cmd_args=None, *, strict_proc_matching=True)
Asserts that a message is found in the stdout of a particular process.
-
msg
:The text to look for in the process standard out
-
process
:Either the process name as a string, or a
launch.actions.ExecuteProcess
object that was used to start the process. PassNone
or an empty string to search all processes. -
cmd_args
:When looking up processes by process by name,
cmd_args
can be used to disambiguate multiple processes with the same name. -
strict_proc_matching
:When looking up a process by name,
strict_proc_matching=True
will make it an error to match multiple processes. This prevents an assert from accidentally passing if the output came from a different process than the one the user was expecting.
launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[EXIT_OK], process, cmd_args=None, *, strict_proc_matching=True)
Asserts that the specified processes exited with a particular exit code.
-
allowable_exit_codes
:A list of allowable exit codes. By default
EXIT_OK
(0) plusEXIT_FORCED
(1) on Windows. Other exit codes provided areEXIT_SIGINT
(130),EXIT_SIGQUIT
(131),EXIT_SIGKILL
(137) andEXIT_SIGSEGV
(139). -
The
process
,cmd_args
, andstrict_proc_matching
arguments behave the same way as inassertInStdout
. By default, assert on the exit codes of all processes.
launch_testing.asserts.assertSequentialStdout(proc_output, process, cmd_args=None)
Asserts that standard out was seen in a particular order.
-
process
andcmd_args
:These arguments are the same as in
assertInStdout
andassertExitCodes
, however it is not possible to match multiple processes because there is no way to determine the order of stdout that came from multiple processes.
Returns a context manager that will check that a series of assertions happen in order.
As an example, consider:
with assertSequentialStdout(self.proc_output, "proc_name") as cm:
cm.assertInStdout("Loop 1")
cm.assertInStdout("Loop 2")
cm.assertInStdout("Loop 3")
Waiting for Output or Exit Codes
The ActiveTests
can also call methods that wait for particular output or a particular process to exit or time out.
These asserts are methods on the proc_output
and proc_info
objects.
proc_output.assertWaitFor(msg, process=None, cmd_args=None, *, strict_proc_matching=True, timeout=10)
-
msg
,process
,cmd_args
, andstrict_proc_matching
:These arguments work the same as in other assert methods. By default, this method waits on output from any process.
-
timeout
:The amount of time to wait before raising an
AssertionError
.
proc_info.assertWaitForShutdown(process, cmd_args=None, *, timeout=10)
-
process
andcmd_args
:These arguments work the same as in other assertions, but it is not possible to wait on multiple processes to shut down.
-
timeout
:The amount of time to wait before raising an
AssertionError
Arguments
launch_test
uses launch arguments for tests too.
Arguments are declared in the launch description and can be accessed by the test via a test_args
dictionary that’s injected into the tests similar to proc_info
and proc_output
.
launch_test --show-args test/launch_testing/examples/args_launch_test.py
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=value
See the launch_testing example with arguments for further reference.
Using CMake
To run launch tests from a CMakeLists.txt file, you’ll need to declare a dependency on
launch_testing_ament_cmake
in your package.xml
.
Then, in the CMakeLists.txt file, add:
find_package(launch_testing_ament_cmake)
add_launch_test(test/name_of_test.test.py)
Arguments can be passed to the tests via the CMake function, too:
add_launch_test(
test/test_with_args.test.py
ARGS "arg1:=foo"
)
Examples
hello_world_launch_test.py
Usage:
launch_test test/launch_testing/examples/hello_world_launch_test.py
This test is a simple example on how to use the launch_testing
.
It launches a process and asserts that it prints “hello_world” to stdout
using proc_output.assertWaitFor()
.
Finally, it checks if the process exits normally (zero exit code).
The @launch_testing.markers.keep_alive
decorator ensures that the launch process stays alive long enough for the tests to run.
good_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/good_proc_launch_test.py
This test checks a process called good_proc.py (source found in the example_processes folder). good_proc.py is a simple python process that prints “Loop 1, Loop2, etc. every second until it’s terminated with ctrl+c. The test will launch the process, wait for a few loops to complete by monitoring stdout, then terminate the process and run some post-shutdown checks.
The pre-shutdown tests check that “Loop 1, Loop 2, Loop 3, Loop 4” are all printed to stdout. Once this test finishes, the process under test is shut down
After shutdown, we run a similar test that checks more output, and also checks the
order of the output. test_out_of_order
demonstrates that the assertSequentialStdout
context manager is able to detect out of order stdout.
terminating_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/terminating_proc_launch_test.py
This test checks proper functionality of the terminating_proc example (source found in the example_processes folder).
args_launch_test.py
Usage to view the arguments:
launch_test test/launch_testing/examples/args_launch_test.py --show-args
Usage to run the test:
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=hey
This example shows how to pass arguments into a launch test.
The arguments are made available in the launch description via a launch.substitutions.LaunchConfiguration
.
The arguments are made available to the test cases via a self.test_args
dictionary
This example will fail if no arguments are passed.
context_launch_test.py
Usage:
launch_test test/launch_testing/examples/context_launch_test.py
This example shows how the generate_test_description
function can return a tuple where the second
item is a dictionary of objects that will be injected into the individual test cases.
Tests that wish to use elements of the test context can add arguments with names matching the keys of the dictionary.
Changelog for package launch_testing
2.0.4 (2024-06-24)
-
Add consider_namespace_packages=False (#766) (#778) * Add consider_namespace_packages=False (cherry picked from commit 07f43328054c03067b470d1c9bd707cb1e52d691) Co-authored-by: Tony Najjar <<tony.najjar.1997@gmail.com>>
-
Contributors: mergify[bot]
2.0.3 (2024-04-19)
2.0.2 (2023-07-14)
2.0.1 (2023-04-12)
2.0.0 (2023-04-11)
- Improve type checking (#679)
- Contributors: Hervé Audren
1.4.1 (2023-02-24)
- Fixed typos (#692)
- Contributors: Alejandro Hernández Cordero
1.4.0 (2023-02-14)
- Allow ReadyToTest() usage in event handler (#665)
- Inherit markers from generate_test_description (#670)
- [rolling] Update maintainers - 2022-11-07 (#671)
- Contributors: Audrow Nash, Nikolai Morin, Scott K Logan
1.3.0 (2022-11-02)
1.2.0 (2022-09-13)
- Fix Typo (#641)
- ReadyToTest action timeout using decorator (#625)
- Switch to using a comprehension for process_names. (#614)
- Contributors: Chris Lalancette, Deepanshu Bansal, Kenji Brameld
1.1.0 (2022-04-29)
1.0.1 (2022-04-13)
1.0.0 (2022-04-12)
- Removed the deprecated [ready_fn]{.title-ref} feature (#589)
- Contributors: William Woodall
0.23.1 (2022-04-08)
0.23.0 (2022-03-30)
0.22.0 (2022-03-28)
0.21.1 (2022-03-01)
- Added case for instances of ExecuteLocal in resolveProcess function (#587)
- Add compatitibility with pytest 7 (#592)
- Contributors: Matt Lanting, Shane Loretz
0.21.0 (2022-01-14)
- Renamed three files from example_processes (#573)
- Fix launch_testing README.md proc keyword to process. (#554) (#560)
- Contributors: Jacob Perron, Khush Jain
0.20.0 (2021-11-29)
- Declare frontend group dependency & use explicit dependencies in launch_testing (#520)
- Update maintainers to Aditya Pande and Michel Hidalgo (#559)
- Updated maintainers (#555)
- First prototype of native pytest plugin for launch based tests (#528)
- Adding Executable description class (#454)
- Add a "hello world" style example (#532)
- Contributors: Aditya Pande, Audrow Nash, Christophe Bedard, Ivan Santiago Paunovic, roger-strain
0.19.0 (2021-07-15)
0.18.0 (2021-06-18)
0.17.0 (2021-04-06)
0.16.0 (2021-03-19)
- Use unittest.mock instead of mock (#487)
- Contributors: Michel Hidalgo
0.15.0 (2021-01-25)
0.14.0 (2020-12-08)
0.13.0 (2020-11-04)
- Update package maintainers (#465)
- Contributors: Michel Hidalgo
0.12.0 (2020-08-18)
0.11.1 (2020-08-14)
0.11.0 (2020-08-04)
- Disable cleanup of test cases once they have been run (#406)
- Fix max() with empty sequence (#440)
- Use unittest.TestCase.id() for pytest failure reprs. (#436)
- Use unittest.TestCase.id() to put together jUnit XML output. (#435)
- Claim ownership (#433)
- Contributors: Dirk Thomas, Michel Hidalgo, Scott K Logan, William Woodall
0.10.2 (2020-05-26)
- Set junit_family to xunit2 in pytest.ini
- Stop using implicit variables in example testing.
- Switch to from_parent to remove deprecation warning.
- Fix new flake8 errors. (#420)
- Remove uses of deprecated ready_fn. (#419)
- Contributors: Chris Lalancette, Michel Hidalgo
0.10.1 (2020-05-08)
- fixed depcrecation warning of imp to importlib (issue #387) (#407)
- wait_for_ouput() repr includes actual text (#408)
- Contributors: Shane Loretz, Zahi Kakish
0.10.0 (2020-04-24)
- Improve jUnit output for launch tests when run with py.test (#404)
- avoid deprecation warning, use from_parent (#402)
- Warn that old-style ready_fn and test attributes will be deprecated (#346)
- more verbose test_flake8 error messages (same as ros2/launch_ros#135)
- stop using constructors deprecated in pytest 5.4 (#391)
- Add the ability to assert in stdout or stderr. (#378)
- Add delay parameter to retry_on_failure decorator (#390)
- Make RegisterEventHandler describe its sub-entities (#386)
- Import test file without contaminating sys.modules (#360)
- Update reference to example launch test file (#363)
- Use imperative mood in docstrings. (#362)
- Fix a documentation typo. (#361)
- Fix junit XML when launch dies early (#358)
- Contributors: Chris Lalancette, Dan Rose, Dirk Thomas, Jacob Perron, Michel Hidalgo, Peter Baughman, Steven! Ragnarök
0.9.5 (2019-11-13)
- Make launch_testing.markers.retry_on_failure decorator more robust. (#352)
- Contributors: Michel Hidalgo
0.9.4 (2019-11-08)
- Fix a small typo in the launch_testing README. (#351)
- Contributors: Chris Lalancette
0.9.3 (2019-10-23)
0.9.2 (2019-10-23)
- Support launch test reruns when using pytest (#348)
- Support CLI commands testing (#279)
- Contributors: Michel Hidalgo
0.9.1 (2019-09-25)
- Optionally remove ready fn arg from generate_test_description (#322)
- Contributors: Michel Hidalgo, Peter Baughman
0.9.0 (2019-09-18)
- install package manifest (#330)
- Unindent setup.cfg options. (#326)
- Use renamed remove_ansi_escape_sequences. (#302)0
- Enable launch test discovery in pytest (#312)
- Support LaunchService injection into pre-shutdown tests. (#308)
- Add assertWaitForStartup method to match assertWaitForShutdown (#278)
- Fix a simple typo in an error message. (#301)
- Fix launch_testing output filtering (#296)
- Revert "Revert "[execute_process] emulate_tty configurable and defaults to true"" (#277)
- Fix formatting (#262)
- Fix proc lookup for processes with multiple command-line arguments (#229)
- Remove ros domain ID dependency (#256)
- Contributors: Chris Lalancette, Dirk Thomas, Esteve Fernandez, Michel Hidalgo, Peter Baughman, William Woodall, ivanpauno
0.8.3 (2019-05-29)
- Changed behavior to use
--isolated
if noROS_DOMAIN_ID
is set to help parallel testing. (#251) - Contributors: Peter Baughman
0.8.2 (2019-05-20)
- add non-asserting waitFor method (#243)
- Enable reuse of launch testing functionality (#236)
- Stop randomizing ROS_DOMAIN_ID by default in launch tests (#240)
- Contributors: Dirk Thomas, Michel Hidalgo
0.8.1 (2019-05-08)
0.8.0 (2019-04-13)
- Added test actions. (#178)
- Fixed test_env_testing test (#200)
- Dropped legacy launch package. (#191)
- Migrated legacy launch API tests. (#167)
- Contributors: Dirk Thomas, Michel Hidalgo, ivanpauno
0.7.3 (2018-12-13)
0.7.2 (2018-12-06)
0.7.1 (2018-11-16)
- Fixed setup.py versions (#155)
- Contributors: Steven! Ragnarök
0.7.0 (2018-11-16)
- Fixed lint warnings from invalid escape sequences (#151) Use raw strings for regex patterns to avoid warnings.
- Fixed linter errors from #131. (#132)
- Added class to provide some limitted testing options (#131)
- Moved
launch_testing
intolaunch_testing.legacy
namespace (#130) - Contributors: Dirk Thomas, Jacob Perron, Steven! Ragnarök
0.6.0 (2018-08-20)
0.5.2 (2018-07-17)
0.5.1 (2018-06-27)
0.5.0 (2018-06-19)
- Updated to use new launch.legacy namespace (#73)
- Contributors: Dirk Thomas, Mikael Arguedas, William Woodall
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
ament_index_python | |
launch | |
launch_xml | |
launch_yaml | |
osrf_pycommon | |
ament_copyright | |
ament_flake8 | |
ament_pep257 |
System Dependencies
Name |
---|
python3-pytest |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_testing at Robotics Stack Exchange
launch_testing package from launch repolaunch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing |
|
Package Summary
Tags | No category tags. |
Version | 3.4.2 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/launch.git |
VCS Type | git |
VCS Version | jazzy |
Last Updated | 2024-11-27 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Aditya Pande
- Brandon Ong
- William Woodall
Authors
- Dirk Thomas
- Esteve Fernandez
- Michel Hidalgo
- Pete Baughman
- William Woodall
launch_testing
This tool is a framework for launch integration testing. For example:
- The exit codes of all processes are available to the tests.
- Tests can check that all processes shut down normally, or with specific exit codes.
- Tests can fail when a process dies unexpectedly.
- The stdout and stderr of all processes are available to the tests.
- The command-line used to launch the processes are available to the tests.
- Some tests run concurrently with the launch and can interact with the running processes.
Quick start example
Start with the launch_testing
example good_proc_launch_test.py
.
Run the example by doing:
launch_test test/launch_testing/examples/good_proc_launch_test.py
launch_test
will launch the nodes found in the generate_test_description
function, run the tests from the TestGoodProcess
class, shut down the launched nodes, and then run the tests from the TestProcessOutput
class.
The Launch Description
def generate_test_description():
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[path_to_process],
),
# Start tests right away - no need to wait for anything in this example.
# In a more complicated launch description, we might want this action happen
# once some process starts or once some other event happens
launch_testing.actions.ReadyToTest()
])
The generate_test_description
function should return a launch.LaunchDescription
object that launches the system to be tested.
The launch description needs to include a ReadyToTest
action to signal to the test framework that it’s safe to start the active tests.
In the above example, there is no need to delay the start of the tests so the ReadyToTest
action is a peer to the process under test and will signal to the framework that it’s safe to start around the same time the ExecuteProcess
action is run.
Active Tests
Any classes that inherit from unittest.TestCase
and not decorated with the post_shutdown_test
descriptor will be run concurrently with the process under test.
These tests are expected to interact with the running processes in some way.
Post-Shutdown Tests
Any classes that inherit from unittest.TestCase
that are decorated with the post_shutdown_test
descriptor will be run after the launched processes have been shut down.
These tests have access to the exit codes and the stdout of all of the launched processes, as well as any data created as a side-effect of running the processes.
Exit Codes and Standard Out
The launch_testing
framework automatically adds some member fields to each test case so that the tests can access process output and exit codes.
-
self.proc_info
- a ProcInfoHandler object -
self.proc_output
- an IoHandler object
These objects provide dictionary like access to information about the running processes. They also contain methods that the active tests can use to wait for a process to exit or to wait for specific output.
Assertions
The launch_testing
framework automatically records all stdout from the launched processes as well as the exit codes from any processes that are launched.
This information is made available to the tests via the proc_info
and proc_output
object.
These objects can be used by one of several assert methods to check the output or exit codes of the process:
launch_testing.asserts.assertInStdout(proc_output, msg, process, cmd_args=None, *, strict_proc_matching=True)
Asserts that a message is found in the stdout of a particular process.
-
msg
:The text to look for in the process standard out
-
process
:Either the process name as a string, or a
launch.actions.ExecuteProcess
object that was used to start the process. PassNone
or an empty string to search all processes. -
cmd_args
:When looking up processes by process by name,
cmd_args
can be used to disambiguate multiple processes with the same name. -
strict_proc_matching
:When looking up a process by name,
strict_proc_matching=True
will make it an error to match multiple processes. This prevents an assert from accidentally passing if the output came from a different process than the one the user was expecting.
launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[EXIT_OK], process, cmd_args=None, *, strict_proc_matching=True)
Asserts that the specified processes exited with a particular exit code.
-
allowable_exit_codes
:A list of allowable exit codes. By default
EXIT_OK
(0) plusEXIT_FORCED
(1) on Windows. Other exit codes provided areEXIT_SIGINT
(130),EXIT_SIGQUIT
(131),EXIT_SIGKILL
(137) andEXIT_SIGSEGV
(139). -
The
process
,cmd_args
, andstrict_proc_matching
arguments behave the same way as inassertInStdout
. By default, assert on the exit codes of all processes.
launch_testing.asserts.assertSequentialStdout(proc_output, process, cmd_args=None)
Asserts that standard out was seen in a particular order.
-
process
andcmd_args
:These arguments are the same as in
assertInStdout
andassertExitCodes
, however it is not possible to match multiple processes because there is no way to determine the order of stdout that came from multiple processes.
Returns a context manager that will check that a series of assertions happen in order.
As an example, consider:
with assertSequentialStdout(self.proc_output, "proc_name") as cm:
cm.assertInStdout("Loop 1")
cm.assertInStdout("Loop 2")
cm.assertInStdout("Loop 3")
Waiting for Output or Exit Codes
The ActiveTests
can also call methods that wait for particular output or a particular process to exit or time out.
These asserts are methods on the proc_output
and proc_info
objects.
proc_output.assertWaitFor(msg, process=None, cmd_args=None, *, strict_proc_matching=True, timeout=10)
-
msg
,process
,cmd_args
, andstrict_proc_matching
:These arguments work the same as in other assert methods. By default, this method waits on output from any process.
-
timeout
:The amount of time to wait before raising an
AssertionError
.
proc_info.assertWaitForShutdown(process, cmd_args=None, *, timeout=10)
-
process
andcmd_args
:These arguments work the same as in other assertions, but it is not possible to wait on multiple processes to shut down.
-
timeout
:The amount of time to wait before raising an
AssertionError
Arguments
launch_test
uses launch arguments for tests too.
Arguments are declared in the launch description and can be accessed by the test via a test_args
dictionary that’s injected into the tests similar to proc_info
and proc_output
.
launch_test --show-args test/launch_testing/examples/args_launch_test.py
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=value
See the launch_testing example with arguments for further reference.
Using CMake
To run launch tests from a CMakeLists.txt file, you’ll need to declare a dependency on
launch_testing_ament_cmake
in your package.xml
.
Then, in the CMakeLists.txt file, add:
find_package(launch_testing_ament_cmake)
add_launch_test(test/name_of_test.test.py)
Arguments can be passed to the tests via the CMake function, too:
add_launch_test(
test/test_with_args.test.py
ARGS "arg1:=foo"
)
Examples
hello_world_launch_test.py
Usage:
launch_test test/launch_testing/examples/hello_world_launch_test.py
This test is a simple example on how to use the launch_testing
.
It launches a process and asserts that it prints “hello_world” to stdout
using proc_output.assertWaitFor()
.
Finally, it checks if the process exits normally (zero exit code).
The @launch_testing.markers.keep_alive
decorator ensures that the launch process stays alive long enough for the tests to run.
good_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/good_proc_launch_test.py
This test checks a process called good_proc.py (source found in the example_processes folder). good_proc.py is a simple python process that prints “Loop 1, Loop2, etc. every second until it’s terminated with ctrl+c. The test will launch the process, wait for a few loops to complete by monitoring stdout, then terminate the process and run some post-shutdown checks.
The pre-shutdown tests check that “Loop 1, Loop 2, Loop 3, Loop 4” are all printed to stdout. Once this test finishes, the process under test is shut down
After shutdown, we run a similar test that checks more output, and also checks the
order of the output. test_out_of_order
demonstrates that the assertSequentialStdout
context manager is able to detect out of order stdout.
terminating_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/terminating_proc_launch_test.py
This test checks proper functionality of the terminating_proc example (source found in the example_processes folder).
args_launch_test.py
Usage to view the arguments:
launch_test test/launch_testing/examples/args_launch_test.py --show-args
Usage to run the test:
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=hey
This example shows how to pass arguments into a launch test.
The arguments are made available in the launch description via a launch.substitutions.LaunchConfiguration
.
The arguments are made available to the test cases via a self.test_args
dictionary
This example will fail if no arguments are passed.
context_launch_test.py
Usage:
launch_test test/launch_testing/examples/context_launch_test.py
This example shows how the generate_test_description
function can return a tuple where the second
item is a dictionary of objects that will be injected into the individual test cases.
Tests that wish to use elements of the test context can add arguments with names matching the keys of the dictionary.
Changelog for package launch_testing
3.4.2 (2024-04-16)
- Fix a warning in modern unittest. (#773) Newer versions of unittest no longer store an errors list; instead, they store a result, which then stores an error list. Update the code here to be able to deal with either version.
- Contributors: Chris Lalancette
3.4.1 (2024-03-28)
- Add consider_namespace_packages=False (#766)
- Contributors: Tony Najjar
3.4.0 (2024-02-07)
3.3.0 (2024-01-24)
3.2.1 (2023-12-26)
3.2.0 (2023-10-04)
- to open expected outpout file with an encoding parameter (#717)
- Contributors: Chen Lihui
3.1.0 (2023-09-08)
3.0.1 (2023-09-07)
3.0.0 (2023-08-21)
2.2.1 (2023-07-11)
2.2.0 (2023-06-07)
2.1.0 (2023-04-27)
2.0.1 (2023-04-12)
2.0.0 (2023-04-11)
- Improve type checking (#679)
- Contributors: Hervé Audren
1.4.1 (2023-02-24)
- Fixed typos (#692)
- Contributors: Alejandro Hernández Cordero
1.4.0 (2023-02-14)
- Allow ReadyToTest() usage in event handler (#665)
- Inherit markers from generate_test_description (#670)
- [rolling] Update maintainers - 2022-11-07 (#671)
- Contributors: Audrow Nash, Nikolai Morin, Scott K Logan
1.3.0 (2022-11-02)
1.2.0 (2022-09-13)
- Fix Typo (#641)
- ReadyToTest action timeout using decorator (#625)
- Switch to using a comprehension for process_names. (#614)
- Contributors: Chris Lalancette, Deepanshu Bansal, Kenji Brameld
1.1.0 (2022-04-29)
1.0.1 (2022-04-13)
1.0.0 (2022-04-12)
- Removed the deprecated [ready_fn]{.title-ref} feature (#589)
- Contributors: William Woodall
0.23.1 (2022-04-08)
0.23.0 (2022-03-30)
0.22.0 (2022-03-28)
0.21.1 (2022-03-01)
- Added case for instances of ExecuteLocal in resolveProcess function (#587)
- Add compatitibility with pytest 7 (#592)
- Contributors: Matt Lanting, Shane Loretz
0.21.0 (2022-01-14)
- Renamed three files from example_processes (#573)
- Fix launch_testing README.md proc keyword to process. (#554) (#560)
- Contributors: Jacob Perron, Khush Jain
0.20.0 (2021-11-29)
- Declare frontend group dependency & use explicit dependencies in launch_testing (#520)
- Update maintainers to Aditya Pande and Michel Hidalgo (#559)
- Updated maintainers (#555)
- First prototype of native pytest plugin for launch based tests (#528)
- Adding Executable description class (#454)
- Add a "hello world" style example (#532)
- Contributors: Aditya Pande, Audrow Nash, Christophe Bedard, Ivan Santiago Paunovic, roger-strain
0.19.0 (2021-07-15)
0.18.0 (2021-06-18)
0.17.0 (2021-04-06)
0.16.0 (2021-03-19)
- Use unittest.mock instead of mock (#487)
- Contributors: Michel Hidalgo
0.15.0 (2021-01-25)
0.14.0 (2020-12-08)
0.13.0 (2020-11-04)
- Update package maintainers (#465)
- Contributors: Michel Hidalgo
0.12.0 (2020-08-18)
0.11.1 (2020-08-14)
0.11.0 (2020-08-04)
- Disable cleanup of test cases once they have been run (#406)
- Fix max() with empty sequence (#440)
- Use unittest.TestCase.id() for pytest failure reprs. (#436)
- Use unittest.TestCase.id() to put together jUnit XML output. (#435)
- Claim ownership (#433)
- Contributors: Dirk Thomas, Michel Hidalgo, Scott K Logan, William Woodall
0.10.2 (2020-05-26)
- Set junit_family to xunit2 in pytest.ini
- Stop using implicit variables in example testing.
- Switch to from_parent to remove deprecation warning.
- Fix new flake8 errors. (#420)
- Remove uses of deprecated ready_fn. (#419)
- Contributors: Chris Lalancette, Michel Hidalgo
0.10.1 (2020-05-08)
- fixed depcrecation warning of imp to importlib (issue #387) (#407)
- wait_for_ouput() repr includes actual text (#408)
- Contributors: Shane Loretz, Zahi Kakish
0.10.0 (2020-04-24)
- Improve jUnit output for launch tests when run with py.test (#404)
- avoid deprecation warning, use from_parent (#402)
- Warn that old-style ready_fn and test attributes will be deprecated (#346)
- more verbose test_flake8 error messages (same as ros2/launch_ros#135)
- stop using constructors deprecated in pytest 5.4 (#391)
- Add the ability to assert in stdout or stderr. (#378)
- Add delay parameter to retry_on_failure decorator (#390)
- Make RegisterEventHandler describe its sub-entities (#386)
- Import test file without contaminating sys.modules (#360)
- Update reference to example launch test file (#363)
- Use imperative mood in docstrings. (#362)
- Fix a documentation typo. (#361)
- Fix junit XML when launch dies early (#358)
- Contributors: Chris Lalancette, Dan Rose, Dirk Thomas, Jacob Perron, Michel Hidalgo, Peter Baughman, Steven! Ragnarök
0.9.5 (2019-11-13)
- Make launch_testing.markers.retry_on_failure decorator more robust. (#352)
- Contributors: Michel Hidalgo
0.9.4 (2019-11-08)
- Fix a small typo in the launch_testing README. (#351)
- Contributors: Chris Lalancette
0.9.3 (2019-10-23)
0.9.2 (2019-10-23)
- Support launch test reruns when using pytest (#348)
- Support CLI commands testing (#279)
- Contributors: Michel Hidalgo
0.9.1 (2019-09-25)
- Optionally remove ready fn arg from generate_test_description (#322)
- Contributors: Michel Hidalgo, Peter Baughman
0.9.0 (2019-09-18)
- install package manifest (#330)
- Unindent setup.cfg options. (#326)
- Use renamed remove_ansi_escape_sequences. (#302)0
- Enable launch test discovery in pytest (#312)
- Support LaunchService injection into pre-shutdown tests. (#308)
- Add assertWaitForStartup method to match assertWaitForShutdown (#278)
- Fix a simple typo in an error message. (#301)
- Fix launch_testing output filtering (#296)
- Revert "Revert "[execute_process] emulate_tty configurable and defaults to true"" (#277)
- Fix formatting (#262)
- Fix proc lookup for processes with multiple command-line arguments (#229)
- Remove ros domain ID dependency (#256)
- Contributors: Chris Lalancette, Dirk Thomas, Esteve Fernandez, Michel Hidalgo, Peter Baughman, William Woodall, ivanpauno
0.8.3 (2019-05-29)
- Changed behavior to use
--isolated
if noROS_DOMAIN_ID
is set to help parallel testing. (#251) - Contributors: Peter Baughman
0.8.2 (2019-05-20)
- add non-asserting waitFor method (#243)
- Enable reuse of launch testing functionality (#236)
- Stop randomizing ROS_DOMAIN_ID by default in launch tests (#240)
- Contributors: Dirk Thomas, Michel Hidalgo
0.8.1 (2019-05-08)
0.8.0 (2019-04-13)
- Added test actions. (#178)
- Fixed test_env_testing test (#200)
- Dropped legacy launch package. (#191)
- Migrated legacy launch API tests. (#167)
- Contributors: Dirk Thomas, Michel Hidalgo, ivanpauno
0.7.3 (2018-12-13)
0.7.2 (2018-12-06)
0.7.1 (2018-11-16)
- Fixed setup.py versions (#155)
- Contributors: Steven! Ragnarök
0.7.0 (2018-11-16)
- Fixed lint warnings from invalid escape sequences (#151) Use raw strings for regex patterns to avoid warnings.
- Fixed linter errors from #131. (#132)
- Added class to provide some limitted testing options (#131)
- Moved
launch_testing
intolaunch_testing.legacy
namespace (#130) - Contributors: Dirk Thomas, Jacob Perron, Steven! Ragnarök
0.6.0 (2018-08-20)
0.5.2 (2018-07-17)
0.5.1 (2018-06-27)
0.5.0 (2018-06-19)
- Updated to use new launch.legacy namespace (#73)
- Contributors: Dirk Thomas, Mikael Arguedas, William Woodall
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
ament_index_python | |
launch | |
launch_xml | |
launch_yaml | |
osrf_pycommon | |
ament_copyright | |
ament_flake8 | |
ament_pep257 |
System Dependencies
Name |
---|
python3-pytest |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_testing at Robotics Stack Exchange
launch_testing package from launch repolaunch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing |
|
Package Summary
Tags | No category tags. |
Version | 3.7.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/launch.git |
VCS Type | git |
VCS Version | rolling |
Last Updated | 2024-11-26 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Aditya Pande
- Brandon Ong
- William Woodall
Authors
- Dirk Thomas
- Esteve Fernandez
- Michel Hidalgo
- Pete Baughman
- William Woodall
launch_testing
This tool is a framework for launch integration testing. For example:
- The exit codes of all processes are available to the tests.
- Tests can check that all processes shut down normally, or with specific exit codes.
- Tests can fail when a process dies unexpectedly.
- The stdout and stderr of all processes are available to the tests.
- The command-line used to launch the processes are available to the tests.
- Some tests run concurrently with the launch and can interact with the running processes.
Quick start example
Start with the launch_testing
example good_proc_launch_test.py
.
Run the example by doing:
launch_test test/launch_testing/examples/good_proc_launch_test.py
launch_test
will launch the nodes found in the generate_test_description
function, run the tests from the TestGoodProcess
class, shut down the launched nodes, and then run the tests from the TestProcessOutput
class.
The Launch Description
def generate_test_description():
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[path_to_process],
),
# Start tests right away - no need to wait for anything in this example.
# In a more complicated launch description, we might want this action happen
# once some process starts or once some other event happens
launch_testing.actions.ReadyToTest()
])
The generate_test_description
function should return a launch.LaunchDescription
object that launches the system to be tested.
The launch description needs to include a ReadyToTest
action to signal to the test framework that it’s safe to start the active tests.
In the above example, there is no need to delay the start of the tests so the ReadyToTest
action is a peer to the process under test and will signal to the framework that it’s safe to start around the same time the ExecuteProcess
action is run.
Active Tests
Any classes that inherit from unittest.TestCase
and not decorated with the post_shutdown_test
descriptor will be run concurrently with the process under test.
These tests are expected to interact with the running processes in some way.
Post-Shutdown Tests
Any classes that inherit from unittest.TestCase
that are decorated with the post_shutdown_test
descriptor will be run after the launched processes have been shut down.
These tests have access to the exit codes and the stdout of all of the launched processes, as well as any data created as a side-effect of running the processes.
Exit Codes and Standard Out
The launch_testing
framework automatically adds some member fields to each test case so that the tests can access process output and exit codes.
-
self.proc_info
- a ProcInfoHandler object -
self.proc_output
- an IoHandler object
These objects provide dictionary like access to information about the running processes. They also contain methods that the active tests can use to wait for a process to exit or to wait for specific output.
Assertions
The launch_testing
framework automatically records all stdout from the launched processes as well as the exit codes from any processes that are launched.
This information is made available to the tests via the proc_info
and proc_output
object.
These objects can be used by one of several assert methods to check the output or exit codes of the process:
launch_testing.asserts.assertInStdout(proc_output, msg, process, cmd_args=None, *, strict_proc_matching=True)
Asserts that a message is found in the stdout of a particular process.
-
msg
:The text to look for in the process standard out
-
process
:Either the process name as a string, or a
launch.actions.ExecuteProcess
object that was used to start the process. PassNone
or an empty string to search all processes. -
cmd_args
:When looking up processes by process by name,
cmd_args
can be used to disambiguate multiple processes with the same name. -
strict_proc_matching
:When looking up a process by name,
strict_proc_matching=True
will make it an error to match multiple processes. This prevents an assert from accidentally passing if the output came from a different process than the one the user was expecting.
launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[EXIT_OK], process, cmd_args=None, *, strict_proc_matching=True)
Asserts that the specified processes exited with a particular exit code.
-
allowable_exit_codes
:A list of allowable exit codes. By default
EXIT_OK
(0) plusEXIT_FORCED
(1) on Windows. Other exit codes provided areEXIT_SIGINT
(130),EXIT_SIGQUIT
(131),EXIT_SIGKILL
(137) andEXIT_SIGSEGV
(139). -
The
process
,cmd_args
, andstrict_proc_matching
arguments behave the same way as inassertInStdout
. By default, assert on the exit codes of all processes.
launch_testing.asserts.assertSequentialStdout(proc_output, process, cmd_args=None)
Asserts that standard out was seen in a particular order.
-
process
andcmd_args
:These arguments are the same as in
assertInStdout
andassertExitCodes
, however it is not possible to match multiple processes because there is no way to determine the order of stdout that came from multiple processes.
Returns a context manager that will check that a series of assertions happen in order.
As an example, consider:
with assertSequentialStdout(self.proc_output, "proc_name") as cm:
cm.assertInStdout("Loop 1")
cm.assertInStdout("Loop 2")
cm.assertInStdout("Loop 3")
Waiting for Output or Exit Codes
The ActiveTests
can also call methods that wait for particular output or a particular process to exit or time out.
These asserts are methods on the proc_output
and proc_info
objects.
proc_output.assertWaitFor(msg, process=None, cmd_args=None, *, strict_proc_matching=True, timeout=10)
-
msg
,process
,cmd_args
, andstrict_proc_matching
:These arguments work the same as in other assert methods. By default, this method waits on output from any process.
-
timeout
:The amount of time to wait before raising an
AssertionError
.
proc_info.assertWaitForShutdown(process, cmd_args=None, *, timeout=10)
-
process
andcmd_args
:These arguments work the same as in other assertions, but it is not possible to wait on multiple processes to shut down.
-
timeout
:The amount of time to wait before raising an
AssertionError
Arguments
launch_test
uses launch arguments for tests too.
Arguments are declared in the launch description and can be accessed by the test via a test_args
dictionary that’s injected into the tests similar to proc_info
and proc_output
.
launch_test --show-args test/launch_testing/examples/args_launch_test.py
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=value
See the launch_testing example with arguments for further reference.
Using CMake
To run launch tests from a CMakeLists.txt file, you’ll need to declare a dependency on
launch_testing_ament_cmake
in your package.xml
.
Then, in the CMakeLists.txt file, add:
find_package(launch_testing_ament_cmake)
add_launch_test(test/name_of_test.test.py)
Arguments can be passed to the tests via the CMake function, too:
add_launch_test(
test/test_with_args.test.py
ARGS "arg1:=foo"
)
Examples
hello_world_launch_test.py
Usage:
launch_test test/launch_testing/examples/hello_world_launch_test.py
This test is a simple example on how to use the launch_testing
.
It launches a process and asserts that it prints “hello_world” to stdout
using proc_output.assertWaitFor()
.
Finally, it checks if the process exits normally (zero exit code).
The @launch_testing.markers.keep_alive
decorator ensures that the launch process stays alive long enough for the tests to run.
good_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/good_proc_launch_test.py
This test checks a process called good_proc.py (source found in the example_processes folder). good_proc.py is a simple python process that prints “Loop 1, Loop2, etc. every second until it’s terminated with ctrl+c. The test will launch the process, wait for a few loops to complete by monitoring stdout, then terminate the process and run some post-shutdown checks.
The pre-shutdown tests check that “Loop 1, Loop 2, Loop 3, Loop 4” are all printed to stdout. Once this test finishes, the process under test is shut down
After shutdown, we run a similar test that checks more output, and also checks the
order of the output. test_out_of_order
demonstrates that the assertSequentialStdout
context manager is able to detect out of order stdout.
terminating_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/terminating_proc_launch_test.py
This test checks proper functionality of the terminating_proc example (source found in the example_processes folder).
args_launch_test.py
Usage to view the arguments:
launch_test test/launch_testing/examples/args_launch_test.py --show-args
Usage to run the test:
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=hey
This example shows how to pass arguments into a launch test.
The arguments are made available in the launch description via a launch.substitutions.LaunchConfiguration
.
The arguments are made available to the test cases via a self.test_args
dictionary
This example will fail if no arguments are passed.
context_launch_test.py
Usage:
launch_test test/launch_testing/examples/context_launch_test.py
This example shows how the generate_test_description
function can return a tuple where the second
item is a dictionary of objects that will be injected into the individual test cases.
Tests that wish to use elements of the test context can add arguments with names matching the keys of the dictionary.
Changelog for package launch_testing
3.7.0 (2024-11-20)
- Add test_xmllint to all of the ament_python packages. (#804)
- Contributors: Chris Lalancette
3.6.1 (2024-07-29)
3.6.0 (2024-06-25)
3.5.1 (2024-06-17)
- Add mechanism to disable workaround for dependency groups (#775)
- Contributors: Scott K Logan
3.5.0 (2024-04-26)
3.4.2 (2024-04-16)
- Fix a warning in modern unittest. (#773) Newer versions of unittest no longer store an errors list; instead, they store a result, which then stores an error list. Update the code here to be able to deal with either version.
- Contributors: Chris Lalancette
3.4.1 (2024-03-28)
- Add consider_namespace_packages=False (#766)
- Contributors: Tony Najjar
3.4.0 (2024-02-07)
3.3.0 (2024-01-24)
3.2.1 (2023-12-26)
3.2.0 (2023-10-04)
- to open expected outpout file with an encoding parameter (#717)
- Contributors: Chen Lihui
3.1.0 (2023-09-08)
3.0.1 (2023-09-07)
3.0.0 (2023-08-21)
2.2.1 (2023-07-11)
2.2.0 (2023-06-07)
2.1.0 (2023-04-27)
2.0.1 (2023-04-12)
2.0.0 (2023-04-11)
- Improve type checking (#679)
- Contributors: Hervé Audren
1.4.1 (2023-02-24)
- Fixed typos (#692)
- Contributors: Alejandro Hernández Cordero
1.4.0 (2023-02-14)
- Allow ReadyToTest() usage in event handler (#665)
- Inherit markers from generate_test_description (#670)
- [rolling] Update maintainers - 2022-11-07 (#671)
- Contributors: Audrow Nash, Nikolai Morin, Scott K Logan
1.3.0 (2022-11-02)
1.2.0 (2022-09-13)
- Fix Typo (#641)
- ReadyToTest action timeout using decorator (#625)
- Switch to using a comprehension for process_names. (#614)
- Contributors: Chris Lalancette, Deepanshu Bansal, Kenji Brameld
1.1.0 (2022-04-29)
1.0.1 (2022-04-13)
1.0.0 (2022-04-12)
- Removed the deprecated [ready_fn]{.title-ref} feature (#589)
- Contributors: William Woodall
0.23.1 (2022-04-08)
0.23.0 (2022-03-30)
0.22.0 (2022-03-28)
0.21.1 (2022-03-01)
- Added case for instances of ExecuteLocal in resolveProcess function (#587)
- Add compatitibility with pytest 7 (#592)
- Contributors: Matt Lanting, Shane Loretz
0.21.0 (2022-01-14)
- Renamed three files from example_processes (#573)
- Fix launch_testing README.md proc keyword to process. (#554) (#560)
- Contributors: Jacob Perron, Khush Jain
0.20.0 (2021-11-29)
- Declare frontend group dependency & use explicit dependencies in launch_testing (#520)
- Update maintainers to Aditya Pande and Michel Hidalgo (#559)
- Updated maintainers (#555)
- First prototype of native pytest plugin for launch based tests (#528)
- Adding Executable description class (#454)
- Add a "hello world" style example (#532)
- Contributors: Aditya Pande, Audrow Nash, Christophe Bedard, Ivan Santiago Paunovic, roger-strain
0.19.0 (2021-07-15)
0.18.0 (2021-06-18)
0.17.0 (2021-04-06)
0.16.0 (2021-03-19)
- Use unittest.mock instead of mock (#487)
- Contributors: Michel Hidalgo
0.15.0 (2021-01-25)
0.14.0 (2020-12-08)
0.13.0 (2020-11-04)
- Update package maintainers (#465)
- Contributors: Michel Hidalgo
0.12.0 (2020-08-18)
0.11.1 (2020-08-14)
0.11.0 (2020-08-04)
- Disable cleanup of test cases once they have been run (#406)
- Fix max() with empty sequence (#440)
- Use unittest.TestCase.id() for pytest failure reprs. (#436)
- Use unittest.TestCase.id() to put together jUnit XML output. (#435)
- Claim ownership (#433)
- Contributors: Dirk Thomas, Michel Hidalgo, Scott K Logan, William Woodall
0.10.2 (2020-05-26)
- Set junit_family to xunit2 in pytest.ini
- Stop using implicit variables in example testing.
- Switch to from_parent to remove deprecation warning.
- Fix new flake8 errors. (#420)
- Remove uses of deprecated ready_fn. (#419)
- Contributors: Chris Lalancette, Michel Hidalgo
0.10.1 (2020-05-08)
- fixed depcrecation warning of imp to importlib (issue #387) (#407)
- wait_for_ouput() repr includes actual text (#408)
- Contributors: Shane Loretz, Zahi Kakish
0.10.0 (2020-04-24)
- Improve jUnit output for launch tests when run with py.test (#404)
- avoid deprecation warning, use from_parent (#402)
- Warn that old-style ready_fn and test attributes will be deprecated (#346)
- more verbose test_flake8 error messages (same as ros2/launch_ros#135)
- stop using constructors deprecated in pytest 5.4 (#391)
- Add the ability to assert in stdout or stderr. (#378)
- Add delay parameter to retry_on_failure decorator (#390)
- Make RegisterEventHandler describe its sub-entities (#386)
- Import test file without contaminating sys.modules (#360)
- Update reference to example launch test file (#363)
- Use imperative mood in docstrings. (#362)
- Fix a documentation typo. (#361)
- Fix junit XML when launch dies early (#358)
- Contributors: Chris Lalancette, Dan Rose, Dirk Thomas, Jacob Perron, Michel Hidalgo, Peter Baughman, Steven! Ragnarök
0.9.5 (2019-11-13)
- Make launch_testing.markers.retry_on_failure decorator more robust. (#352)
- Contributors: Michel Hidalgo
0.9.4 (2019-11-08)
- Fix a small typo in the launch_testing README. (#351)
- Contributors: Chris Lalancette
0.9.3 (2019-10-23)
0.9.2 (2019-10-23)
- Support launch test reruns when using pytest (#348)
- Support CLI commands testing (#279)
- Contributors: Michel Hidalgo
0.9.1 (2019-09-25)
- Optionally remove ready fn arg from generate_test_description (#322)
- Contributors: Michel Hidalgo, Peter Baughman
0.9.0 (2019-09-18)
- install package manifest (#330)
- Unindent setup.cfg options. (#326)
- Use renamed remove_ansi_escape_sequences. (#302)0
- Enable launch test discovery in pytest (#312)
- Support LaunchService injection into pre-shutdown tests. (#308)
- Add assertWaitForStartup method to match assertWaitForShutdown (#278)
- Fix a simple typo in an error message. (#301)
- Fix launch_testing output filtering (#296)
- Revert "Revert "[execute_process] emulate_tty configurable and defaults to true"" (#277)
- Fix formatting (#262)
- Fix proc lookup for processes with multiple command-line arguments (#229)
- Remove ros domain ID dependency (#256)
- Contributors: Chris Lalancette, Dirk Thomas, Esteve Fernandez, Michel Hidalgo, Peter Baughman, William Woodall, ivanpauno
0.8.3 (2019-05-29)
- Changed behavior to use
--isolated
if noROS_DOMAIN_ID
is set to help parallel testing. (#251) - Contributors: Peter Baughman
0.8.2 (2019-05-20)
- add non-asserting waitFor method (#243)
- Enable reuse of launch testing functionality (#236)
- Stop randomizing ROS_DOMAIN_ID by default in launch tests (#240)
- Contributors: Dirk Thomas, Michel Hidalgo
0.8.1 (2019-05-08)
0.8.0 (2019-04-13)
- Added test actions. (#178)
- Fixed test_env_testing test (#200)
- Dropped legacy launch package. (#191)
- Migrated legacy launch API tests. (#167)
- Contributors: Dirk Thomas, Michel Hidalgo, ivanpauno
0.7.3 (2018-12-13)
0.7.2 (2018-12-06)
0.7.1 (2018-11-16)
- Fixed setup.py versions (#155)
- Contributors: Steven! Ragnarök
0.7.0 (2018-11-16)
- Fixed lint warnings from invalid escape sequences (#151) Use raw strings for regex patterns to avoid warnings.
- Fixed linter errors from #131. (#132)
- Added class to provide some limitted testing options (#131)
- Moved
launch_testing
intolaunch_testing.legacy
namespace (#130) - Contributors: Dirk Thomas, Jacob Perron, Steven! Ragnarök
0.6.0 (2018-08-20)
0.5.2 (2018-07-17)
0.5.1 (2018-06-27)
0.5.0 (2018-06-19)
- Updated to use new launch.legacy namespace (#73)
- Contributors: Dirk Thomas, Mikael Arguedas, William Woodall
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
ament_index_python | |
launch | |
osrf_pycommon | |
launch_xml | |
launch_yaml | |
ament_copyright | |
ament_flake8 | |
ament_pep257 | |
ament_xmllint |
System Dependencies
Name |
---|
python3-pytest |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_testing at Robotics Stack Exchange
launch_testing package from launch repolaunch launch_testing |
|
Package Summary
Tags | No category tags. |
Version | 0.4.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/launch.git |
VCS Type | git |
VCS Version | ardent |
Last Updated | 2017-12-09 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Dirk Thomas
Authors
- Esteve Fernandez
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
launch | |
ament_index_python | |
ament_flake8 | |
ament_pep257 |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_testing at Robotics Stack Exchange
launch_testing package from launch repolaunch launch_ros launch_testing ros2launch |
|
Package Summary
Tags | No category tags. |
Version | 0.6.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/launch.git |
VCS Type | git |
VCS Version | bouncy |
Last Updated | 2018-08-22 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Dirk Thomas
Authors
- Esteve Fernandez
Changelog for package launch_testing
0.6.0 (2018-08-20)
0.5.2 (2018-07-17)
0.5.1 (2018-06-27)
0.5.0 (2018-06-19)
- Updated to use new launch.legacy namespace (#73)
- Contributors: Dirk Thomas, Mikael Arguedas, William Woodall
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
launch | |
ament_index_python | |
ament_flake8 | |
ament_pep257 |
System Dependencies
Name |
---|
python3-pytest |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_testing at Robotics Stack Exchange
launch_testing package from launch repolaunch launch_ros launch_testing ros2launch test_launch_ros |
|
Package Summary
Tags | No category tags. |
Version | 0.7.4 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/launch.git |
VCS Type | git |
VCS Version | crystal |
Last Updated | 2019-04-02 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Dirk Thomas
Authors
- Esteve Fernandez
Changelog for package launch_testing
0.7.4 (2019-04-02)
0.7.3 (2018-12-13)
0.7.2 (2018-12-06)
0.7.1 (2018-11-16)
- Fixed setup.py versions (#155)
- Contributors: Steven! Ragnarök
0.7.0 (2018-11-16)
- Fixed lint warnings from invalid escape sequences (#151) Use raw strings for regex patterns to avoid warnings.
- Fixed linter errors from #131. (#132)
- Added class to provide some limitted testing options (#131)
- Moved
launch_testing
intolaunch_testing.legacy
namespace (#130) - Contributors: Dirk Thomas, Jacob Perron, Steven! Ragnarök
0.6.0 (2018-08-20)
0.5.2 (2018-07-17)
0.5.1 (2018-06-27)
0.5.0 (2018-06-19)
- Updated to use new launch.legacy namespace (#73)
- Contributors: Dirk Thomas, Mikael Arguedas, William Woodall
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
launch | |
ament_index_python | |
ament_flake8 | |
ament_pep257 |
System Dependencies
Name |
---|
python3-pytest |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_testing at Robotics Stack Exchange
launch_testing package from launch repolaunch launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing |
|
Package Summary
Tags | No category tags. |
Version | 0.9.7 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/launch.git |
VCS Type | git |
VCS Version | eloquent |
Last Updated | 2020-12-04 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Pete Baughman
Authors
- Pete Baughman
- Dirk Thomas
- Esteve Fernandez
launch_testing
This tool is a framework for launch integration testing. For example:
- The exit codes of all processes are available to the tests.
- Tests can check that all processes shut down normally, or with specific exit codes.
- Tests can fail when a process dies unexpectedly.
- The stdout and stderr of all processes are available to the tests.
- The command-line used to launch the processes are avilalbe to the tests.
- Some tests run concurrently with the launch and can interact with the running processes.
Quick start example
Start with the launch_testing
example good_proc.test.py
.
Run the example by doing:
launch_test launch_testing/examples/good_proc.test.py
launch_test
will launch the nodes found in the generate_test_description
function, run the tests from the TestGoodProcess
class, shut down the launched nodes, and then run the tests from the TestNodeOutput
class.
The Launch Description
def generate_test_description():
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[path_to_process],
),
# Start tests right away - no need to wait for anything in this example.
# In a more complicated launch description, we might want this action happen
# once some process starts or once some other event happens
launch_testing.actions.ReadyToTest()
])
The generate_test_description
function should return a launch.LaunchDescription
object that launches the system to be tested.
The launch description needs to include a ReadyToTest
action to signal to the test framework that it’s safe to start the active tests.
In the above example, there is no need to delay the start of the tests so the ReadyToTest
action is a peer to the process under test and will signal to the framework that it’s safe to start around the same time the ExecuteProcess
action is run.
In older style tests, a function called ready_fn
is declared as an argument to generate_test_description
and must be plumbed into the launch description with an OpaqueFunction
.
def generate_test_description(ready_fn):
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[path_to_process],
),
# Start tests right away - no need to wait for anything in this example
launch.actions.OpaqueFunction(function=lambda context: ready_fn()),
])
Active Tests
Any classes that inherit from unittest.TestCase
and not decorated with the post_shutdown_test
descriptor will be run concurrently with the proccess under test.
These tests are expected to interact with the running processes in some way.
Post-Shutdown Tests
Any classes that inherit from unittest.TestCase
that are decorated with the post_shutdown_test
descriptor will be run after the launched processes have been shut down.
These tests have access to the exit codes and the stdout of all of the launched processes, as well as any data created as a side-effect of running the processes.
Exit Codes and Standard Out
The launch_testing
framework automatically adds some member fields to each test case so that the tests can access process output and exit codes.
-
self.proc_info
- a ProcInfoHandler object -
self.proc_output
- an IoHandler object
These objects provide dictionary like access to information about the running processes. They also contain methods that the active tests can use to wait for a process to exit or to wait for specific output.
Assertions
The launch_testing
framework automatically records all stdout from the launched processes as well as the exit codes from any processes that are launched.
This information is made available to the tests via the proc_info
and proc_output
object.
These objects can be used by one of several assert methods to check the output or exit codes of the process:
launch_testing.asserts.assertInStdout(proc_output, msg, proc, cmd_args=None, *, strict_proc_matching=True)
Asserts that a message is found in the stdout of a particular process.
-
msg
:The text to look for in the process standard out
-
proc
:Either the process name as a string, or a
launch.actions.ExecuteProcess
object that was used to start the process. PassNone
or an empty string to search all processes. -
cmd_args
:When looking up processes by process by name,
cmd_args
can be used to disambiguate multiple processes with the same name. -
strict_proc_matching
:When looking up a process by name,
strict_proc_matching=True
will make it an error to match multiple processes. This prevents an assert from accidentally passing if the output came from a different process than the one the user was expecting.
launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[EXIT_OK], proc, cmd_args=None, *, strict_proc_matching=True)
Asserts that the specified processes exited with a particular exit code.
-
allowable_exit_codes
:A list of allowable exit codes. By default
EXIT_OK
(0) plusEXIT_FORCED
(1) on Windows. Other exit codes provided areEXIT_SIGINT
(130),EXIT_SIGQUIT
(131),EXIT_SIGKILL
(137) andEXIT_SIGSEGV
(139). -
The
proc
,cmd_args
, andstrict_proc_matching
arguments behave the same way as inassertInStdout
. By default, assert on the exit codes of all processes.
launch_testing.asserts.assertSequentialStdout(proc_output, proc, cmd_args=None)
Asserts that standard out was seen in a particular order.
-
proc
andcmd_args
:These arguments are the same as in
assertInStdout
andassertExitCodes
, however it is not possible to match multiple processes because there is no way to determine the order of stdout that came from multiple processes.
Returns a context manager that will check that a series of assertions happen in order.
As an example, consider:
with assertSequentialStdout(self.proc_output, "proc_name") as cm:
cm.assertInStdout("Loop 1")
cm.assertInStdout("Loop 2")
cm.assertInStdout("Loop 3")
Waiting for Output or Exit Codes
The ActiveTests
can also call methods that wait for particular output or a particular process to exit or time out.
These asserts are methods on the proc_output
and proc_info
objects.
proc_output.assertWaitFor(msg, proc=None, cmd_args=None, *, strict_proc_matching=True, timeout=10)
-
msg
,proc
,cmd_args
, andstrict_proc_matching
:These arguments work the same as in other assert methods. By default, this method waits on output from any process.
-
timeout
:The amount of time to wait before raising an
AssertionError
.
proc_info.assertWaitForShutdown(proc, cmd_args=None, *, timeout=10)
-
proc
andcmd_args
:These arguments work the same as in other assertions, but it is not possible to wait on multiple processes to shut down.
-
timeout
:The amount of time to wait before raising an
AssertionError
Arguments
launch_test
uses launch arguments for tests too.
Arguments are declared in the launch description and can be accessed by the test via a test_args
dictionary that’s injected into the tests similar to proc_info
and proc_output
.
launch_test --show-args examples/args.test.py
launch_test examples/args.test.py dut_arg:=value
See the launch_testing example with arguments for further reference.
Using CMake
To run launch tests from a CMakeLists.txt file, you’ll need to declare a dependency on
launch_testing_ament_cmake
in your package.xml
.
Then, in the CMakeLists.txt file, add:
find_package(launch_testing_ament_cmake)
add_launch_test(test/name_of_test.test.py)
Arguments can be passed to the tests via the CMake function, too:
add_launch_test(
test/test_with_args.test.py
ARGS "arg1:=foo"
)
Examples
good_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/good_proc_launch_test.py
This test checks a process called good_proc (source found in the example_processes folder). good_proc is a simple python process that prints “Loop 1, Loop2, etc. every second until it’s terminated with ctrl+c. The test will launch the process, wait for a few loops to complete by monitoring stdout, then terminate the process and run some post-shutdown checks.
The pre-shutdown tests check that “Loop 1, Loop 2, Loop 3, Loop 4” are all printed to stdout. Once this test finishes, the process under test is shut down
After shutdown, we run a similar test that checks more output, and also checks the
order of the output. test_out_of_order
demonstrates that the assertSequentialStdout
context manager is able to detect out of order stdout.
terminating_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/terminating_proc_launch_test.py
This test checks proper functionality of the terminating_proc example (source found in the example_processes folder).
args_launch_test.py
Usage to view the arguments:
launch_test test/launch_testing/examples/args_launch_test.py --show-args
Usage to run the test:
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=hey
This example shows how to pass arguments into a launch test. The arguments are made available in the launch description via a launch.substitutions.LaunchConfiguration. The arguments are made available to the test cases via a self.test_args dictionary
This example will fail if no arguments are passed.
context_launch_test.py
Usage:
launch_test test/launch_testing/examples/context_launch_test.py
This example shows how the generate_test_description
function can return a tuple where the second
item is a dictionary of objects that will be injected into the individual test cases. Tests that
wish to use elements of the test context can add arguments with names matching the keys of the dictionary.
Changelog for package launch_testing
0.9.7 (2020-12-04)
- [Eloquent backport] stop using constructors deprecated in pytest 5.4 (#391) Switch to from_parent (partial #421) avoid deprecation warning, use from_parent (#402) (#459)
- Contributors: Shane Loretz
0.9.6 (2020-01-21)
- Import test file without contaminating sys.modules (#360)
- Contributors: Peter Baughman
0.9.5 (2019-11-13)
- Make launch_testing.markers.retry_on_failure decorator more robust. (#352)
- Contributors: Michel Hidalgo
0.9.4 (2019-11-08)
- Fix a small typo in the launch_testing README. (#351)
- Contributors: Chris Lalancette
0.9.3 (2019-10-23)
0.9.2 (2019-10-23)
- Support launch test reruns when using pytest (#348)
- Support CLI commands testing (#279)
- Contributors: Michel Hidalgo
0.9.1 (2019-09-25)
- Optionally remove ready fn arg from generate_test_description (#322)
- Contributors: Michel Hidalgo, Peter Baughman
0.9.0 (2019-09-18)
- install package manifest (#330)
- Unindent setup.cfg options. (#326)
- Use renamed remove_ansi_escape_sequences. (#302)0
- Enable launch test discovery in pytest (#312)
- Support LaunchService injection into pre-shutdown tests. (#308)
- Add assertWaitForStartup method to match assertWaitForShutdown (#278)
- Fix a simple typo in an error message. (#301)
- Fix launch_testing output filtering (#296)
- Revert "Revert "[execute_process] emulate_tty configurable and defaults to true"" (#277)
- Fix formatting (#262)
- Fix proc lookup for processes with multiple command-line arguments (#229)
- Remove ros domain ID dependency (#256)
- Contributors: Chris Lalancette, Dirk Thomas, Esteve Fernandez, Michel Hidalgo, Peter Baughman, William Woodall, ivanpauno
0.8.3 (2019-05-29)
- Changed behavior to use
--isolated
if noROS_DOMAIN_ID
is set to help parallel testing. (#251) - Contributors: Peter Baughman
0.8.2 (2019-05-20)
- add non-asserting waitFor method (#243)
- Enable reuse of launch testing functionality (#236)
- Stop randomizing ROS_DOMAIN_ID by default in launch tests (#240)
- Contributors: Dirk Thomas, Michel Hidalgo
0.8.1 (2019-05-08)
0.8.0 (2019-04-13)
- Added test actions. (#178)
- Fixed test_env_testing test (#200)
- Dropped legacy launch package. (#191)
- Migrated legacy launch API tests. (#167)
- Contributors: Dirk Thomas, Michel Hidalgo, ivanpauno
0.7.3 (2018-12-13)
0.7.2 (2018-12-06)
0.7.1 (2018-11-16)
- Fixed setup.py versions (#155)
- Contributors: Steven! Ragnarök
0.7.0 (2018-11-16)
- Fixed lint warnings from invalid escape sequences (#151) Use raw strings for regex patterns to avoid warnings.
- Fixed linter errors from #131. (#132)
- Added class to provide some limitted testing options (#131)
- Moved
launch_testing
intolaunch_testing.legacy
namespace (#130) - Contributors: Dirk Thomas, Jacob Perron, Steven! Ragnarök
0.6.0 (2018-08-20)
0.5.2 (2018-07-17)
0.5.1 (2018-06-27)
0.5.0 (2018-06-19)
- Updated to use new launch.legacy namespace (#73)
- Contributors: Dirk Thomas, Mikael Arguedas, William Woodall
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_testing at Robotics Stack Exchange
launch_testing package from launch repolaunch launch_testing launch_testing_ament_cmake test_launch_testing |
|
Package Summary
Tags | No category tags. |
Version | 0.8.7 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/launch.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2020-03-25 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Pete Baughman
Authors
- Pete Baughman
- Dirk Thomas
- Esteve Fernandez
launch_testing
This tool is a framework for launch integration testing. For example:
- The exit codes of all processes are available to the tests.
- Tests can check that all processes shut down normally, or with specific exit codes.
- Tests can fail when a process dies unexpectedly.
- The stdout and stderr of all processes are available to the tests.
- The command-line used to launch the processes are avilalbe to the tests.
- Some tests run concurrently with the launch and can interact with the running processes.
Quick start example
Start with the launch_testing
example good_proc.test.py
.
Run the example by doing:
launch_test launch_testing/examples/good_proc.test.py
launch_test
will launch the nodes found in the generate_test_description
function, run the tests from the TestGoodProcess
class, shut down the launched nodes, and then run the tests from the TestNodeOutput
class.
The Launch Description
def generate_test_description(ready_fn):
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[path_to_process],
),
# Start tests right away - no need to wait for anything in this example
launch.actions.OpaqueFunction(function=lambda context: ready_fn()),
])
The generate_test_description
function should return a launch.LaunchDescription
object that launches the system to be tested.
It should also call the ready_fn
that is passed in to signal when the tests should start. In the good_proc.test.py
example, there is no need to delay the start of the tests so the ready_fn
is called concurrently when the launching of the process under test.
Active Tests
Any classes that inherit from unittest.TestCase
and not decorated with the post_shutdown_test
descriptor will be run concurrently with the proccess under test.
These tests are expected to interact with the running processes in some way.
Post-Shutdown Tests
Any classes that inherit from unittest.TestCase
that are decorated with the post_shutdown_test
descriptor will be run after the launched processes have been shut down.
These tests have access to the exit codes and the stdout of all of the launched processes, as well as any data created as a side-effect of running the processes.
Exit Codes and Standard Out
The launch_testing
framework automatically adds some member fields to each test case so that the tests can access process output and exit codes.
-
self.proc_info
- a ProcInfoHandler object -
self.proc_output
- an IoHandler object
These objects provide dictionary like access to information about the running processes. They also contain methods that the active tests can use to wait for a process to exit or to wait for specific output.
Assertions
The launch_testing
framework automatically records all stdout from the launched processes as well as the exit codes from any processes that are launched.
This information is made available to the tests via the proc_info
and proc_output
object.
These objects can be used by one of several assert methods to check the output or exit codes of the process:
launch_testing.asserts.assertInStdout(proc_output, msg, proc, cmd_args=None, *, strict_proc_matching=True)
Asserts that a message is found in the stdout of a particular process.
-
msg
:The text to look for in the process standard out
- proc
:
Either the process name as a string, or a `launch.actions.ExecuteProcess` object that was used to start the process.
Pass `None` or an empty string to search all processes.
-
cmd_args
:When looking up processes by process by name,
cmd_args
can be used to disambiguate multiple processes with the same name. -
strict_proc_matching
:When looking up a process by name,
strict_proc_matching=True
will make it an error to match multiple processes. This prevents an assert from accidentally passing if the output came from a different process than the one the user was expecting.
launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[EXIT_OK], proc, cmd_args=None, *, strict_proc_matching=True)
Asserts that the specified processes exited with a particular exit code.
-
allowable_exit_codes
:A list of allowable exit codes. By default
EXIT_OK
(0) plusEXIT_FORCED
(1) on Windows. Other exit codes provided areEXIT_SIGINT
(130),EXIT_SIGQUIT
(131),EXIT_SIGKILL
(137) andEXIT_SIGSEGV
(139). -
The
proc
,cmd_args
, andstrict_proc_matching
arguments behave the same way as inassertInStdout
. By default, assert on the exit codes of all processes.
launch_testing.asserts.assertSequentialStdout(proc_output, proc, cmd_args=None)
Asserts that standard out was seen in a particular order.
-
proc
andcmd_args
:These arguments are the same as in
assertInStdout
andassertExitCodes
, however it is not possible to match multiple processes because there is no way to determine the order of stdout that came from multiple processes.
Returns a context manager that will check that a series of assertions happen in order.
As an example, consider:
with assertSequentialStdout(self.proc_output, "proc_name") as cm:
cm.assertInStdout("Loop 1")
cm.assertInStdout("Loop 2")
cm.assertInStdout("Loop 3")
Waiting for Output or Exit Codes
The ActiveTests
can also call methods that wait for particular output or a particular process to exit or time out.
These asserts are methods on the proc_output
and proc_info
objects.
proc_output.assertWaitFor(msg, proc=None, cmd_args=None, *, strict_proc_matching=True, timeout=10)
-
msg
,proc
,cmd_args
, andstrict_proc_matching
:These arguments work the same as in other assert methods. By default, this method waits on output from any process.
-
timeout
:The amount of time to wait before raising an
AssertionError
.
proc_info.assertWaitForShutdown(proc, cmd_args=None, *, timeout=10)
-
proc
andcmd_args
:These arguments work the same as in other assertions, but it is not possible to wait on multiple processes to shut down.
-
timeout
:The amount of time to wait before raising an
AssertionError
Arguments
launch_test
uses launch arguments for tests too.
Arguments are declared in the launch description and can be accessed by the test via a test_args
dictionary that’s injected into the tests similar to proc_info
and proc_output
.
launch_test --show-args examples/args.test.py
launch_test examples/args.test.py dut_arg:=value
See the launch_testing example with arguments for further reference.
ROS_DOMAIN_ID Isolation
If the ROS_DOMAIN_ID environment variable isn’t set, launch_test
will automatically coordinate with other launch_test
processes running on the same host
to use a unique ROS_DOMAIN_ID for the launched processes.
This allows multiple instances to run in parallel (the default with colcon test
).
Note that launch_test
cannot coordinate unique domains across multiple hosts.
If the ROS_DOMAIN_ID environment variable is already set, launch_test
respects the environment variable and won’t attempt to select a different ID.
In this case it’s the responsibility of the user to design tests that can be safely run in parallel, or not use parallel test workers.
When working on a system without a ROS_DOMAIN_ID set, the automatic domain isolation behavior can be disabled with the –disable-isolation flag.
This can be useful for debugging tests by running without isolation and running a command like ros2 topic echo
in another terminal window to see what’s
happening in the test as it runs.
Using CMake
To run launch tests from a CMakeLists.txt file, you’ll need to declare a dependency on
launch_testing_ament_cmake
in your package.xml
.
Then, in the CMakeLists.txt file, add:
find_package(launch_testing_ament_cmake)
add_launch_test(test/name_of_test.test.py)
Arguments can be passed to the tests via the CMake function, too:
add_launch_test(
test/test_with_args.test.py
ARGS "arg1:=foo"
)
Changelog for package launch_testing
0.8.7 (2019-10-11)
- install package manifest (#330) (#344) Signed-off-by: Dirk Thomas <<dirk-thomas@users.noreply.github.com>> (cherry picked from commit 81edb5f43a81ade32e5271caa19c38756f52dac2)
- Contributors: Dirk Thomas
0.8.6 (2019-09-06)
- Address additional syntax issues with Python 3.5. (#328)
- Restore support for Python 3.5 (#324)
- Contributors: Steven! Ragnarök
0.8.5 (2019-08-22)
0.8.4 (2019-06-12)
- Fix proc lookup for processes with multiple command-line arguments (#229)
- Contributors: Peter Baughman
0.8.3 (2019-05-29)
- Changed behavior to use
--isolated
if noROS_DOMAIN_ID
is set to help parallel testing. (#251) - Contributors: Peter Baughman
0.8.2 (2019-05-20)
- add non-asserting waitFor method (#243)
- Enable reuse of launch testing functionality (#236)
- Stop randomizing ROS_DOMAIN_ID by default in launch tests (#240)
- Contributors: Dirk Thomas, Michel Hidalgo
0.8.1 (2019-05-08)
0.8.0 (2019-04-13)
- Added test actions. (#178)
- Fixed test_env_testing test (#200)
- Dropped legacy launch package. (#191)
- Migrated legacy launch API tests. (#167)
- Contributors: Dirk Thomas, Michel Hidalgo, ivanpauno
0.7.3 (2018-12-13)
0.7.2 (2018-12-06)
0.7.1 (2018-11-16)
- Fixed setup.py versions (#155)
- Contributors: Steven! Ragnarök
0.7.0 (2018-11-16)
- Fixed lint warnings from invalid escape sequences (#151) Use raw strings for regex patterns to avoid warnings.
- Fixed linter errors from #131. (#132)
- Added class to provide some limitted testing options (#131)
- Moved
launch_testing
intolaunch_testing.legacy
namespace (#130) - Contributors: Dirk Thomas, Jacob Perron, Steven! Ragnarök
0.6.0 (2018-08-20)
0.5.2 (2018-07-17)
0.5.1 (2018-06-27)
0.5.0 (2018-06-19)
- Updated to use new launch.legacy namespace (#73)
- Contributors: Dirk Thomas, Mikael Arguedas, William Woodall
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_testing at Robotics Stack Exchange
launch_testing package from launch repolaunch launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing |
|
Package Summary
Tags | No category tags. |
Version | 0.17.2 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/launch.git |
VCS Type | git |
VCS Version | galactic |
Last Updated | 2022-12-02 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- William Woodall
- Michel Hidalgo
Authors
- Pete Baughman
- Dirk Thomas
- Esteve Fernandez
launch_testing
This tool is a framework for launch integration testing. For example:
- The exit codes of all processes are available to the tests.
- Tests can check that all processes shut down normally, or with specific exit codes.
- Tests can fail when a process dies unexpectedly.
- The stdout and stderr of all processes are available to the tests.
- The command-line used to launch the processes are avilalbe to the tests.
- Some tests run concurrently with the launch and can interact with the running processes.
Quick start example
Start with the launch_testing
example good_proc_launch_test.py
.
Run the example by doing:
launch_test test/launch_testing/examples/good_proc_launch_test.py
launch_test
will launch the nodes found in the generate_test_description
function, run the tests from the TestGoodProcess
class, shut down the launched nodes, and then run the tests from the TestProcessOutput
class.
The Launch Description
def generate_test_description():
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[path_to_process],
),
# Start tests right away - no need to wait for anything in this example.
# In a more complicated launch description, we might want this action happen
# once some process starts or once some other event happens
launch_testing.actions.ReadyToTest()
])
The generate_test_description
function should return a launch.LaunchDescription
object that launches the system to be tested.
The launch description needs to include a ReadyToTest
action to signal to the test framework that it’s safe to start the active tests.
In the above example, there is no need to delay the start of the tests so the ReadyToTest
action is a peer to the process under test and will signal to the framework that it’s safe to start around the same time the ExecuteProcess
action is run.
In older style tests, a function called ready_fn
is declared as an argument to generate_test_description
and must be plumbed into the launch description with an OpaqueFunction
.
This method has been fully replaced by the ReadyToTest
action and is therefore deprecated.
def generate_test_description(ready_fn):
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[path_to_process],
),
# Start tests right away - no need to wait for anything in this example
launch.actions.OpaqueFunction(function=lambda context: ready_fn()),
])
Active Tests
Any classes that inherit from unittest.TestCase
and not decorated with the post_shutdown_test
descriptor will be run concurrently with the proccess under test.
These tests are expected to interact with the running processes in some way.
Post-Shutdown Tests
Any classes that inherit from unittest.TestCase
that are decorated with the post_shutdown_test
descriptor will be run after the launched processes have been shut down.
These tests have access to the exit codes and the stdout of all of the launched processes, as well as any data created as a side-effect of running the processes.
Exit Codes and Standard Out
The launch_testing
framework automatically adds some member fields to each test case so that the tests can access process output and exit codes.
-
self.proc_info
- a ProcInfoHandler object -
self.proc_output
- an IoHandler object
These objects provide dictionary like access to information about the running processes. They also contain methods that the active tests can use to wait for a process to exit or to wait for specific output.
Assertions
The launch_testing
framework automatically records all stdout from the launched processes as well as the exit codes from any processes that are launched.
This information is made available to the tests via the proc_info
and proc_output
object.
These objects can be used by one of several assert methods to check the output or exit codes of the process:
launch_testing.asserts.assertInStdout(proc_output, msg, process, cmd_args=None, *, strict_proc_matching=True)
Asserts that a message is found in the stdout of a particular process.
-
msg
:The text to look for in the process standard out
-
process
:Either the process name as a string, or a
launch.actions.ExecuteProcess
object that was used to start the process. PassNone
or an empty string to search all processes. -
cmd_args
:When looking up processes by process by name,
cmd_args
can be used to disambiguate multiple processes with the same name. -
strict_proc_matching
:When looking up a process by name,
strict_proc_matching=True
will make it an error to match multiple processes. This prevents an assert from accidentally passing if the output came from a different process than the one the user was expecting.
launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[EXIT_OK], process, cmd_args=None, *, strict_proc_matching=True)
Asserts that the specified processes exited with a particular exit code.
-
allowable_exit_codes
:A list of allowable exit codes. By default
EXIT_OK
(0) plusEXIT_FORCED
(1) on Windows. Other exit codes provided areEXIT_SIGINT
(130),EXIT_SIGQUIT
(131),EXIT_SIGKILL
(137) andEXIT_SIGSEGV
(139). -
The
process
,cmd_args
, andstrict_proc_matching
arguments behave the same way as inassertInStdout
. By default, assert on the exit codes of all processes.
launch_testing.asserts.assertSequentialStdout(proc_output, process, cmd_args=None)
Asserts that standard out was seen in a particular order.
-
process
andcmd_args
:These arguments are the same as in
assertInStdout
andassertExitCodes
, however it is not possible to match multiple processes because there is no way to determine the order of stdout that came from multiple processes.
Returns a context manager that will check that a series of assertions happen in order.
As an example, consider:
with assertSequentialStdout(self.proc_output, "proc_name") as cm:
cm.assertInStdout("Loop 1")
cm.assertInStdout("Loop 2")
cm.assertInStdout("Loop 3")
Waiting for Output or Exit Codes
The ActiveTests
can also call methods that wait for particular output or a particular process to exit or time out.
These asserts are methods on the proc_output
and proc_info
objects.
proc_output.assertWaitFor(msg, process=None, cmd_args=None, *, strict_proc_matching=True, timeout=10)
-
msg
,process
,cmd_args
, andstrict_proc_matching
:These arguments work the same as in other assert methods. By default, this method waits on output from any process.
-
timeout
:The amount of time to wait before raising an
AssertionError
.
proc_info.assertWaitForShutdown(process, cmd_args=None, *, timeout=10)
-
process
andcmd_args
:These arguments work the same as in other assertions, but it is not possible to wait on multiple processes to shut down.
-
timeout
:The amount of time to wait before raising an
AssertionError
Arguments
launch_test
uses launch arguments for tests too.
Arguments are declared in the launch description and can be accessed by the test via a test_args
dictionary that’s injected into the tests similar to proc_info
and proc_output
.
launch_test --show-args test/launch_testing/examples/args_launch_test.py
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=value
See the launch_testing example with arguments for further reference.
Using CMake
To run launch tests from a CMakeLists.txt file, you’ll need to declare a dependency on
launch_testing_ament_cmake
in your package.xml
.
Then, in the CMakeLists.txt file, add:
find_package(launch_testing_ament_cmake)
add_launch_test(test/name_of_test.test.py)
Arguments can be passed to the tests via the CMake function, too:
add_launch_test(
test/test_with_args.test.py
ARGS "arg1:=foo"
)
Examples
good_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/good_proc_launch_test.py
This test checks a process called good_proc (source found in the example_processes folder). good_proc is a simple python process that prints “Loop 1, Loop2, etc. every second until it’s terminated with ctrl+c. The test will launch the process, wait for a few loops to complete by monitoring stdout, then terminate the process and run some post-shutdown checks.
The pre-shutdown tests check that “Loop 1, Loop 2, Loop 3, Loop 4” are all printed to stdout. Once this test finishes, the process under test is shut down
After shutdown, we run a similar test that checks more output, and also checks the
order of the output. test_out_of_order
demonstrates that the assertSequentialStdout
context manager is able to detect out of order stdout.
terminating_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/terminating_proc_launch_test.py
This test checks proper functionality of the terminating_proc example (source found in the example_processes folder).
args_launch_test.py
Usage to view the arguments:
launch_test test/launch_testing/examples/args_launch_test.py --show-args
Usage to run the test:
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=hey
This example shows how to pass arguments into a launch test.
The arguments are made available in the launch description via a launch.substitutions.LaunchConfiguration
.
The arguments are made available to the test cases via a self.test_args
dictionary
This example will fail if no arguments are passed.
context_launch_test.py
Usage:
launch_test test/launch_testing/examples/context_launch_test.py
This example shows how the generate_test_description
function can return a tuple where the second
item is a dictionary of objects that will be injected into the individual test cases.
Tests that wish to use elements of the test context can add arguments with names matching the keys of the dictionary.
Changelog for package launch_testing
0.17.2 (2022-12-02)
- Inherit markers from generate_test_description (#675)
- Fix Typo (#643)
- Add compatitibility with pytest 7 (#629)
- Mention that ready_fn in generate_test_description is deprecated (#623)
- Switch to using a comprehension for process_names. (#616)
- Contributors: Bi0T1N, Chris Lalancette, Kenji Brameld, Scott K Logan, Shane Loretz
0.17.1 (2022-04-28)
- Fix launch_testing README.md proc keyword to process. (#554) (#561) Co-authored-by: Michael McConnell <<Michael.McConnell-2@leidos.com>>
- Contributors: Jacob Perron
0.17.0 (2021-04-06)
0.16.0 (2021-03-19)
- Use unittest.mock instead of mock (#487)
- Contributors: Michel Hidalgo
0.15.0 (2021-01-25)
0.14.0 (2020-12-08)
0.13.0 (2020-11-04)
- Update package maintainers (#465)
- Contributors: Michel Hidalgo
0.12.0 (2020-08-18)
0.11.1 (2020-08-14)
0.11.0 (2020-08-04)
- Disable cleanup of test cases once they have been run (#406)
- Fix max() with empty sequence (#440)
- Use unittest.TestCase.id() for pytest failure reprs. (#436)
- Use unittest.TestCase.id() to put together jUnit XML output. (#435)
- Claim ownership (#433)
- Contributors: Dirk Thomas, Michel Hidalgo, Scott K Logan, William Woodall
0.10.2 (2020-05-26)
- Set junit_family to xunit2 in pytest.ini
- Stop using implicit variables in example testing.
- Switch to from_parent to remove deprecation warning.
- Fix new flake8 errors. (#420)
- Remove uses of deprecated ready_fn. (#419)
- Contributors: Chris Lalancette, Michel Hidalgo
0.10.1 (2020-05-08)
- fixed depcrecation warning of imp to importlib (issue #387) (#407)
- wait_for_ouput() repr includes actual text (#408)
- Contributors: Shane Loretz, Zahi Kakish
0.10.0 (2020-04-24)
- Improve jUnit output for launch tests when run with py.test (#404)
- avoid deprecation warning, use from_parent (#402)
- Warn that old-style ready_fn and test attributes will be deprecated (#346)
- more verbose test_flake8 error messages (same as ros2/launch_ros#135)
- stop using constructors deprecated in pytest 5.4 (#391)
- Add the ability to assert in stdout or stderr. (#378)
- Add delay parameter to retry_on_failure decorator (#390)
- Make RegisterEventHandler describe its sub-entities (#386)
- Import test file without contaminating sys.modules (#360)
- Update reference to example launch test file (#363)
- Use imperative mood in docstrings. (#362)
- Fix a documentation typo. (#361)
- Fix junit XML when launch dies early (#358)
- Contributors: Chris Lalancette, Dan Rose, Dirk Thomas, Jacob Perron, Michel Hidalgo, Peter Baughman, Steven! Ragnarök
0.9.5 (2019-11-13)
- Make launch_testing.markers.retry_on_failure decorator more robust. (#352)
- Contributors: Michel Hidalgo
0.9.4 (2019-11-08)
- Fix a small typo in the launch_testing README. (#351)
- Contributors: Chris Lalancette
0.9.3 (2019-10-23)
0.9.2 (2019-10-23)
- Support launch test reruns when using pytest (#348)
- Support CLI commands testing (#279)
- Contributors: Michel Hidalgo
0.9.1 (2019-09-25)
- Optionally remove ready fn arg from generate_test_description (#322)
- Contributors: Michel Hidalgo, Peter Baughman
0.9.0 (2019-09-18)
- install package manifest (#330)
- Unindent setup.cfg options. (#326)
- Use renamed remove_ansi_escape_sequences. (#302)0
- Enable launch test discovery in pytest (#312)
- Support LaunchService injection into pre-shutdown tests. (#308)
- Add assertWaitForStartup method to match assertWaitForShutdown (#278)
- Fix a simple typo in an error message. (#301)
- Fix launch_testing output filtering (#296)
- Revert "Revert "[execute_process] emulate_tty configurable and defaults to true"" (#277)
- Fix formatting (#262)
- Fix proc lookup for processes with multiple command-line arguments (#229)
- Remove ros domain ID dependency (#256)
- Contributors: Chris Lalancette, Dirk Thomas, Esteve Fernandez, Michel Hidalgo, Peter Baughman, William Woodall, ivanpauno
0.8.3 (2019-05-29)
- Changed behavior to use
--isolated
if noROS_DOMAIN_ID
is set to help parallel testing. (#251) - Contributors: Peter Baughman
0.8.2 (2019-05-20)
- add non-asserting waitFor method (#243)
- Enable reuse of launch testing functionality (#236)
- Stop randomizing ROS_DOMAIN_ID by default in launch tests (#240)
- Contributors: Dirk Thomas, Michel Hidalgo
0.8.1 (2019-05-08)
0.8.0 (2019-04-13)
- Added test actions. (#178)
- Fixed test_env_testing test (#200)
- Dropped legacy launch package. (#191)
- Migrated legacy launch API tests. (#167)
- Contributors: Dirk Thomas, Michel Hidalgo, ivanpauno
0.7.3 (2018-12-13)
0.7.2 (2018-12-06)
0.7.1 (2018-11-16)
- Fixed setup.py versions (#155)
- Contributors: Steven! Ragnarök
0.7.0 (2018-11-16)
- Fixed lint warnings from invalid escape sequences (#151) Use raw strings for regex patterns to avoid warnings.
- Fixed linter errors from #131. (#132)
- Added class to provide some limitted testing options (#131)
- Moved
launch_testing
intolaunch_testing.legacy
namespace (#130) - Contributors: Dirk Thomas, Jacob Perron, Steven! Ragnarök
0.6.0 (2018-08-20)
0.5.2 (2018-07-17)
0.5.1 (2018-06-27)
0.5.0 (2018-06-19)
- Updated to use new launch.legacy namespace (#73)
- Contributors: Dirk Thomas, Mikael Arguedas, William Woodall
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launch_testing package from launch repolaunch launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing |
|
Package Summary
Tags | No category tags. |
Version | 0.10.10 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/launch.git |
VCS Type | git |
VCS Version | foxy |
Last Updated | 2022-10-12 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Pete Baughman
Authors
- Pete Baughman
- Dirk Thomas
- Esteve Fernandez
launch_testing
This tool is a framework for launch integration testing. For example:
- The exit codes of all processes are available to the tests.
- Tests can check that all processes shut down normally, or with specific exit codes.
- Tests can fail when a process dies unexpectedly.
- The stdout and stderr of all processes are available to the tests.
- The command-line used to launch the processes are avilalbe to the tests.
- Some tests run concurrently with the launch and can interact with the running processes.
Quick start example
Start with the launch_testing
example good_proc_launch_test.py
.
Run the example by doing:
launch_test test/launch_testing/examples/good_proc_launch_test.py
launch_test
will launch the nodes found in the generate_test_description
function, run the tests from the TestGoodProcess
class, shut down the launched nodes, and then run the tests from the TestProcessOutput
class.
The Launch Description
def generate_test_description():
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[path_to_process],
),
# Start tests right away - no need to wait for anything in this example.
# In a more complicated launch description, we might want this action happen
# once some process starts or once some other event happens
launch_testing.actions.ReadyToTest()
])
The generate_test_description
function should return a launch.LaunchDescription
object that launches the system to be tested.
The launch description needs to include a ReadyToTest
action to signal to the test framework that it’s safe to start the active tests.
In the above example, there is no need to delay the start of the tests so the ReadyToTest
action is a peer to the process under test and will signal to the framework that it’s safe to start around the same time the ExecuteProcess
action is run.
In older style tests, a function called ready_fn
is declared as an argument to generate_test_description
and must be plumbed into the launch description with an OpaqueFunction
.
This method has been fully replaced by the ReadyToTest
action and is therefore deprecated.
def generate_test_description(ready_fn):
return launch.LaunchDescription([
launch.actions.ExecuteProcess(
cmd=[path_to_process],
),
# Start tests right away - no need to wait for anything in this example
launch.actions.OpaqueFunction(function=lambda context: ready_fn()),
])
Active Tests
Any classes that inherit from unittest.TestCase
and not decorated with the post_shutdown_test
descriptor will be run concurrently with the proccess under test.
These tests are expected to interact with the running processes in some way.
Post-Shutdown Tests
Any classes that inherit from unittest.TestCase
that are decorated with the post_shutdown_test
descriptor will be run after the launched processes have been shut down.
These tests have access to the exit codes and the stdout of all of the launched processes, as well as any data created as a side-effect of running the processes.
Exit Codes and Standard Out
The launch_testing
framework automatically adds some member fields to each test case so that the tests can access process output and exit codes.
-
self.proc_info
- a ProcInfoHandler object -
self.proc_output
- an IoHandler object
These objects provide dictionary like access to information about the running processes. They also contain methods that the active tests can use to wait for a process to exit or to wait for specific output.
Assertions
The launch_testing
framework automatically records all stdout from the launched processes as well as the exit codes from any processes that are launched.
This information is made available to the tests via the proc_info
and proc_output
object.
These objects can be used by one of several assert methods to check the output or exit codes of the process:
launch_testing.asserts.assertInStdout(proc_output, msg, process, cmd_args=None, *, strict_proc_matching=True)
Asserts that a message is found in the stdout of a particular process.
-
msg
:The text to look for in the process standard out
-
process
:Either the process name as a string, or a
launch.actions.ExecuteProcess
object that was used to start the process. PassNone
or an empty string to search all processes. -
cmd_args
:When looking up processes by process by name,
cmd_args
can be used to disambiguate multiple processes with the same name. -
strict_proc_matching
:When looking up a process by name,
strict_proc_matching=True
will make it an error to match multiple processes. This prevents an assert from accidentally passing if the output came from a different process than the one the user was expecting.
launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[EXIT_OK], process, cmd_args=None, *, strict_proc_matching=True)
Asserts that the specified processes exited with a particular exit code.
-
allowable_exit_codes
:A list of allowable exit codes. By default
EXIT_OK
(0) plusEXIT_FORCED
(1) on Windows. Other exit codes provided areEXIT_SIGINT
(130),EXIT_SIGQUIT
(131),EXIT_SIGKILL
(137) andEXIT_SIGSEGV
(139). -
The
process
,cmd_args
, andstrict_proc_matching
arguments behave the same way as inassertInStdout
. By default, assert on the exit codes of all processes.
launch_testing.asserts.assertSequentialStdout(proc_output, process, cmd_args=None)
Asserts that standard out was seen in a particular order.
-
process
andcmd_args
:These arguments are the same as in
assertInStdout
andassertExitCodes
, however it is not possible to match multiple processes because there is no way to determine the order of stdout that came from multiple processes.
Returns a context manager that will check that a series of assertions happen in order.
As an example, consider:
with assertSequentialStdout(self.proc_output, "proc_name") as cm:
cm.assertInStdout("Loop 1")
cm.assertInStdout("Loop 2")
cm.assertInStdout("Loop 3")
Waiting for Output or Exit Codes
The ActiveTests
can also call methods that wait for particular output or a particular process to exit or time out.
These asserts are methods on the proc_output
and proc_info
objects.
proc_output.assertWaitFor(msg, process=None, cmd_args=None, *, strict_proc_matching=True, timeout=10)
-
msg
,process
,cmd_args
, andstrict_proc_matching
:These arguments work the same as in other assert methods. By default, this method waits on output from any process.
-
timeout
:The amount of time to wait before raising an
AssertionError
.
proc_info.assertWaitForShutdown(process, cmd_args=None, *, timeout=10)
-
process
andcmd_args
:These arguments work the same as in other assertions, but it is not possible to wait on multiple processes to shut down.
-
timeout
:The amount of time to wait before raising an
AssertionError
Arguments
launch_test
uses launch arguments for tests too.
Arguments are declared in the launch description and can be accessed by the test via a test_args
dictionary that’s injected into the tests similar to proc_info
and proc_output
.
launch_test --show-args test/launch_testing/examples/args_launch_test.py
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=value
See the launch_testing example with arguments for further reference.
Using CMake
To run launch tests from a CMakeLists.txt file, you’ll need to declare a dependency on
launch_testing_ament_cmake
in your package.xml
.
Then, in the CMakeLists.txt file, add:
find_package(launch_testing_ament_cmake)
add_launch_test(test/name_of_test.test.py)
Arguments can be passed to the tests via the CMake function, too:
add_launch_test(
test/test_with_args.test.py
ARGS "arg1:=foo"
)
Examples
good_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/good_proc_launch_test.py
This test checks a process called good_proc (source found in the example_processes folder). good_proc is a simple python process that prints “Loop 1, Loop2, etc. every second until it’s terminated with ctrl+c. The test will launch the process, wait for a few loops to complete by monitoring stdout, then terminate the process and run some post-shutdown checks.
The pre-shutdown tests check that “Loop 1, Loop 2, Loop 3, Loop 4” are all printed to stdout. Once this test finishes, the process under test is shut down
After shutdown, we run a similar test that checks more output, and also checks the
order of the output. test_out_of_order
demonstrates that the assertSequentialStdout
context manager is able to detect out of order stdout.
terminating_proc_launch_test.py
Usage:
launch_test test/launch_testing/examples/terminating_proc_launch_test.py
This test checks proper functionality of the terminating_proc example (source found in the example_processes folder).
args_launch_test.py
Usage to view the arguments:
launch_test test/launch_testing/examples/args_launch_test.py --show-args
Usage to run the test:
launch_test test/launch_testing/examples/args_launch_test.py dut_arg:=hey
This example shows how to pass arguments into a launch test.
The arguments are made available in the launch description via a launch.substitutions.LaunchConfiguration
.
The arguments are made available to the test cases via a self.test_args
dictionary
This example will fail if no arguments are passed.
context_launch_test.py
Usage:
launch_test test/launch_testing/examples/context_launch_test.py
This example shows how the generate_test_description
function can return a tuple where the second
item is a dictionary of objects that will be injected into the individual test cases.
Tests that wish to use elements of the test context can add arguments with names matching the keys of the dictionary.
Changelog for package launch_testing
0.10.10 (2022-10-12)
0.10.9 (2022-09-12)
- Fix Typo (#641) (#642)
- Add compatitibility with pytest 7 (#592) (#628)
- Mention that ready_fn in generate_test_description is deprecated (#623) (#624)
- Switch to using a comprehension for process_names (#614) (#617)
- Contributors: Bi0T1N, Chris Lalancette, Kenji Brameld, Shane Loretz
0.10.8 (2022-01-12)
- Fix launch_testing README.md: Changed 'proc' keyword to 'process'. (#554)
- Contributors: Aditya, Michael McConnell
0.10.7 (2021-11-12)
0.10.6 (2021-08-31)
0.10.5 (2021-04-14)
0.10.4 (2020-12-08)
0.10.3 (2020-08-27)
0.10.2 (2020-05-26)
- Set junit_family to xunit2 in pytest.ini
- Stop using implicit variables in example testing.
- Switch to from_parent to remove deprecation warning.
- Fix new flake8 errors. (#420)
- Remove uses of deprecated ready_fn. (#419)
- Contributors: Chris Lalancette, Michel Hidalgo
0.10.1 (2020-05-08)
- fixed depcrecation warning of imp to importlib (issue #387) (#407)
- wait_for_ouput() repr includes actual text (#408)
- Contributors: Shane Loretz, Zahi Kakish
0.10.0 (2020-04-24)
- Improve jUnit output for launch tests when run with py.test (#404)
- avoid deprecation warning, use from_parent (#402)
- Warn that old-style ready_fn and test attributes will be deprecated (#346)
- more verbose test_flake8 error messages (same as ros2/launch_ros#135)
- stop using constructors deprecated in pytest 5.4 (#391)
- Add the ability to assert in stdout or stderr. (#378)
- Add delay parameter to retry_on_failure decorator (#390)
- Make RegisterEventHandler describe its sub-entities (#386)
- Import test file without contaminating sys.modules (#360)
- Update reference to example launch test file (#363)
- Use imperative mood in docstrings. (#362)
- Fix a documentation typo. (#361)
- Fix junit XML when launch dies early (#358)
- Contributors: Chris Lalancette, Dan Rose, Dirk Thomas, Jacob Perron, Michel Hidalgo, Peter Baughman, Steven! Ragnarök
0.9.5 (2019-11-13)
- Make launch_testing.markers.retry_on_failure decorator more robust. (#352)
- Contributors: Michel Hidalgo
0.9.4 (2019-11-08)
- Fix a small typo in the launch_testing README. (#351)
- Contributors: Chris Lalancette
0.9.3 (2019-10-23)
0.9.2 (2019-10-23)
- Support launch test reruns when using pytest (#348)
- Support CLI commands testing (#279)
- Contributors: Michel Hidalgo
0.9.1 (2019-09-25)
- Optionally remove ready fn arg from generate_test_description (#322)
- Contributors: Michel Hidalgo, Peter Baughman
0.9.0 (2019-09-18)
- install package manifest (#330)
- Unindent setup.cfg options. (#326)
- Use renamed remove_ansi_escape_sequences. (#302)0
- Enable launch test discovery in pytest (#312)
- Support LaunchService injection into pre-shutdown tests. (#308)
- Add assertWaitForStartup method to match assertWaitForShutdown (#278)
- Fix a simple typo in an error message. (#301)
- Fix launch_testing output filtering (#296)
- Revert "Revert "[execute_process] emulate_tty configurable and defaults to true"" (#277)
- Fix formatting (#262)
- Fix proc lookup for processes with multiple command-line arguments (#229)
- Remove ros domain ID dependency (#256)
- Contributors: Chris Lalancette, Dirk Thomas, Esteve Fernandez, Michel Hidalgo, Peter Baughman, William Woodall, ivanpauno
0.8.3 (2019-05-29)
- Changed behavior to use
--isolated
if noROS_DOMAIN_ID
is set to help parallel testing. (#251) - Contributors: Peter Baughman
0.8.2 (2019-05-20)
- add non-asserting waitFor method (#243)
- Enable reuse of launch testing functionality (#236)
- Stop randomizing ROS_DOMAIN_ID by default in launch tests (#240)
- Contributors: Dirk Thomas, Michel Hidalgo
0.8.1 (2019-05-08)
0.8.0 (2019-04-13)
- Added test actions. (#178)
- Fixed test_env_testing test (#200)
- Dropped legacy launch package. (#191)
- Migrated legacy launch API tests. (#167)
- Contributors: Dirk Thomas, Michel Hidalgo, ivanpauno
0.7.3 (2018-12-13)
0.7.2 (2018-12-06)
0.7.1 (2018-11-16)
- Fixed setup.py versions (#155)
- Contributors: Steven! Ragnarök
0.7.0 (2018-11-16)
- Fixed lint warnings from invalid escape sequences (#151) Use raw strings for regex patterns to avoid warnings.
- Fixed linter errors from #131. (#132)
- Added class to provide some limitted testing options (#131)
- Moved
launch_testing
intolaunch_testing.legacy
namespace (#130) - Contributors: Dirk Thomas, Jacob Perron, Steven! Ragnarök
0.6.0 (2018-08-20)
0.5.2 (2018-07-17)
0.5.1 (2018-06-27)
0.5.0 (2018-06-19)
- Updated to use new launch.legacy namespace (#73)
- Contributors: Dirk Thomas, Mikael Arguedas, William Woodall