Improve apex launchtest ros #29
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| executor = rclpy.executors.SingleThreadedExecutor(context=self.context) | ||
| executor.add_node(self.node) | ||
| try: | ||
| executor.spin_once(timeout_sec=timeout_sec) |
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If the launch description has any lifecycle nodes in it, it will also require a ROSSpecificLaunchStartup in the launch description. This starts a thread that will spin in the background and will conflict with this spin and crash the test until this issue is resolved
This example doesn't use lifecycle nodes, so it'll launch without the ROSSpecificLaunchStartup
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@dejanpan This is a lower priority PR, but it shows how to do some simple ROS testing with apex_launchtest. The important file is apex_launchtest_ros/examples/talker_listener.test.py. Can you glance at this and approve it? |
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Needs Upstream Merge
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| """ | ||
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@pbaughman just curious, any reason not to use @property instead of getters?
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@hidmic Old habit - In a previous life I had a blanket ban on python properties because they were difficult to mock. Especially boolean properties. You would mock.patch them and then no matter what you set the return value to to they would all silently evaluate to 'True.' That combined with poor negative testing = bugs bugs bugs.
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@hidmic It reset your approval when I accepted your suggested edits - can you re-approve? Sorry - thanks |
Fix Typo Co-Authored-By: pbaughman <dblue135@yahoo.com>
Improve sentence Co-Authored-By: pbaughman <dblue135@yahoo.com>
Fix bad spelling Co-Authored-By: pbaughman <dblue135@yahoo.com>
formatting Co-Authored-By: pbaughman <dblue135@yahoo.com>
Formatting Co-Authored-By: pbaughman <dblue135@yahoo.com>
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Signed-off-by: Pete Baughman <pete.baughman@apex.ai>
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Add an apex_launchtest_ros example that shows how to interact with the talker and listener nodes in an integration test. Remove the old example nodes in favor of standard ROS2 example nodes from the demo_nodes_py package
Fixes #26