launch_testing_ros

Examples

talker_listener_launch_test.py

Usage:

launch_test test/examples/talker_listener_launch_test.py

This test launches the talker and listener example nodes from demo_nodes_py and interacts with them via their ROS interfaces. Remapping rules are used so that one of the tests can sit in between the talker and the listener and change the data on the fly.

check_node_launch_test.py

Usage:

launch_test test/examples/check_node_launch_test.py

There might be situations where nodes, once launched, take some time to actually start and we need to wait for the node to start to perform some action. We can simulate this using launch.actions.TimerAction. This example shows one way to detect when a node has been launched. We delay the launch by 5 seconds, and wait for the node to start with a timeout of 8 seconds.

check_msgs_launch_test.py

Usage:

launch_test test/examples/check_msgs_launch_test.py

Consider a problem statement where you need to launch a node and check if messages are published on a particular topic. This example demonstrates how to do that, using a talker node. It uses the Event object to end the test as soon as the first message is received on the chatter topic, with a timeout of 5 seconds.

set_param_launch_test.py

Usage:

launch_test test/examples/set_param_launch_test.py

This example demonstrates how to launch a node, set a parameter in it and check if that was successful.

test_fuzzy_data

This test gives an example of what a test that fuzzes data might look like. A ROS subscriber and publisher pair encapsulated in a DataRepublisher object changes the string “Hello World” to “Aloha World” as it travels between the talker and the listener.

test_listener_receives

This test publishes unique messages on the /chatter topic and asserts that the same messages go to the stdout of the listener node

test_talker_transmits

This test subscribes to the remapped /talker_chatter topic and makes sure the talker node also writes the data it’s transmitting to stdout

Changelog for package launch_testing_ros

0.28.0 (2024-11-20)

• Add ament_xmllint to the ament_python packages. (#423)
• Contributors: Chris Lalancette

0.27.3 (2024-10-03)

0.27.2 (2024-07-29)

• Switch to use rclpy.init context manager. (#402)
• Contributors: Chris Lalancette

0.27.1 (2024-06-17)

0.27.0 (2024-04-26)

0.26.5 (2024-03-28)

• Make launch_testing_ros examples more robust. (#394)
• Contributors: Chris Lalancette

0.26.4 (2024-01-24)

0.26.3 (2023-12-26)

• added type hinting to launch_testing_ros/test/examples (#386)
• Contributors: Yaswanth

0.26.2 (2023-09-07)

• Handle spin() ExternalShutdownException. (#378)
• Increase the timeout in wait_for_topic_launch_test. (#377)
• Contributors: Chris Lalancette

0.26.1 (2023-08-21)

0.26.0 (2023-07-11)

• `WaitForTopics`: get content of messages for each topic (#353)
• Contributors: Giorgio Pintaudi

0.25.0 (2023-04-27)

0.24.0 (2023-04-11)

• Increase the timeouts in wait_for_topic_launch_test. (#360)
• Enable document generation using rosdoc2 (#359)
• exit() methods should not reraise the passed-in exception (#357)
• Contributors: Chris Lalancette, Giorgio Pintaudi, Yadu

0.23.0 (2023-02-14)

• Inherit markers from generate_test_description (#330)
• [rolling] Update maintainers - 2022-11-07 (#331)
• Contributors: Audrow Nash, Scott K Logan

0.22.0 (2022-11-02)

0.21.0 (2022-09-13)

0.20.0 (2022-04-29)

• Fix long wait during shutdown in WaitForTopics (#314)
• Contributors: Keng12

0.19.2 (2022-04-08)

• Add [hz]{.title-ref} param to [talker.py]{.title-ref} to fix wait_for_topic_launch_test (#309)
• Contributors: Shane Loretz

0.19.1 (2022-04-05)

0.19.0 (2022-03-24)

0.18.0 (2022-03-01)

0.17.0 (2021-12-14)

• Revert WaitForTopics (#288)
• Contributors: Jacob Perron

0.16.0 (2021-11-29)

• Update maintainers in setup.py (#287)
• Move pytest entrypoints to own module (#278)
• Update package maintainers (#284)
• Check that future is done, and always call rclpy.shutdown (#273)
• Revert "launch testing : Wait for topics to publish (#274)" (#276)
• Contributors: Audrow Nash, Jorge Perez, Michel Hidalgo, Shane Loretz

0.15.0 (2021-10-07)

• Add WaitForTopics utility for waiting on publishers (#274)
• Remove unused code, Future.result() already raises (#270)
• Add timeout to wait for service response in example (#271)
• Add examples (#263)
• Contributors: Aditya Pande, Shane Loretz

0.14.2 (2021-04-26)

• Use underscores in setup.cfg instead of dashes. (#227)
• Contributors: Mike Purvis

0.14.1 (2021-04-12)

0.14.0 (2021-04-06)

0.13.0 (2021-01-25)

0.12.0 (2020-12-08)

• Merge pull request #183 from ros2/update-maintainers
• Move Pete to author, per clalancette
• Update the package.xml files with the latest Open Robotics maintainers
• Add pytest.ini so local tests don't display warning (#152)
• Contributors: Chris Lalancette, Michael Jeronimo

0.10.2 (2020-05-26)

• Call LaunchROSTestModule with the new API. (#150)
• Contributors: Chris Lalancette

0.10.1 (2020-05-13)

0.10.0 (2020-04-29)

• Deprecated 'node_executable' parameter and replace with 'executable' (#140)
• Avoid deprecation warning, use from_parent (#141)
• Show error strings as part of the flake8 test (#135)
• Remove unused 'launch' import (#133)
• Enable implicit ROS startup by launch_ros actions (#128)
• Fix launch_testing_ros example (#121)
• Contributors: Dirk Thomas, Jacob Perron, Michel Hidalgo

0.9.4 (2019-11-19)

• fix new linter warnings as of flake8-comprehensions 3.1.0 (#94)
• Contributors: Dirk Thomas

0.9.3 (2019-11-13)

0.9.2 (2019-10-23)

• Remove self.proc_output and ready_fn (#90)
• Add support for launching nodes not in a package (#82)
• Contributors: Michel Hidalgo, Peter Baughman

0.9.1 (2019-09-28)

• Make launch_testing_ros examples standalone. (#80)
• Contributors: Michel Hidalgo

0.9.0 (2019-09-25)

• install package manifest (#71)
• Do not import rclpy nor launch_ros at module level. (#69)
• Unindent setup.cfg options. (#66)
• Support launch_ros test runner in pytest (#54)
• Contributors: Dirk Thomas, Michel Hidalgo

0.8.4 (2019-05-30)

0.8.3 (2019-05-29)

0.8.2 (2019-05-20)

• fix example test logic (#28)
• Add custom LaunchTestRunner with ROS specific preamble (#26)
• Fix deprecation warnings (#25)
• Contributors: Dirk Thomas, Jacob Perron, Michel Hidalgo

0.8.1 (2019-05-08)

• try local import (#20)
• Merge apex_launchtest_ros functionality into launch_testing_ros (#8)
• Contributors: Dirk Thomas, Michel Hidalgo

0.8.0 (2019-04-14)