urdf_test

Provides a utility to test that a robot_description is loaded and published correctly from a launch file.

To use it include a launch_test in your package's CMakeLists.txt

    add_launch_test(
      test/test_description.launch.py
      TARGET "pmb2_description_${laser_model}_${courier_rgbd_sensors}" # With TARGET set test name
      ARGS "laser_model:=${laser_model}" "courier_rgbd_sensors:=${courier_rgbd_sensors}" # You can use variables to test different configurations
    )

And in the launch.py file include the description generator and the Test classes:

from urdf_test.description_test import (generate_urdf_test_description,
                                        TestDescriptionPublished, TestSuccessfulExit)
from launch_pal.include_utils import include_launch_py_description

# Ignore unused import warnings for the Test Classes
__all__ = ('TestDescriptionPublished', 'TestSuccessfulExit')


def generate_test_description():
    return generate_urdf_test_description(
        include_launch_py_description(
            'pmb2_description', ['launch', 'robot_state_publisher.launch.py']),         
    )                                        

Changelog for package urdf_test

2.0.3 (2024-03-20)

• Fix deprecated QOS warning
• Contributors: David ter Kuile

2.0.2 (2023-11-14)

• Add website tag
• Remove pal flags dependency
• Contributors: Noel Jimenez

2.0.1 (2022-10-20)

• Merge branch \'cleanup\' into \'humble-devel\' Cleanup See merge request qa/urdf_test!7
• clean ros1 files
• Merge branch \'update_copyright\' into \'humble-devel\' Update copyright See merge request qa/urdf_test!6
• update copyright
• Merge branch \'update_maintainers\' into \'humble-devel\' update maintainers See merge request qa/urdf_test!5
• update maintainers
• Merge branch \'tests\' into \'humble-devel\' fix linter errors See merge request qa/urdf_test!4
• linters
• Contributors: Jordan Palacios, Noel Jimenez

2.0.0 (2021-06-16)

• ROS2 migration
• Contributors: Victor Lopez

1.0.4 (2018-12-12)

• Merge branch \'add-test-suffix\' into \'master\' Add test suffix See merge request qa/urdf_test!2
• Add test suffix
• Merge branch \'fix-package-dependency\' into \'master\' Fix package dependencies See merge request !1
• Fix package dependencies
• Contributors: Victor Lopez, davidfernandez

1.0.3 (2017-07-18)

• Rewrite in python for simplicity
• Fix dependencies
• Contributors: davidfernandez

1.0.2 (2017-07-17)

• Fix build rule to match install rule
• Contributors: davidfernandez

1.0.1 (2017-07-17)

• Fix installation rules
• Contributors: davidfernandez

1.0.0 (2017-07-17)

• Initial import
• Contributors: davidfernandez