[ros2] gazebo_ros_init plugin #776
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[ros2] gazebo_ros_pkgs 'meta'package
| void GazeboRosInitTest::TearDown() | ||
| { | ||
| // If fork failed, don't need to do anything | ||
| if (pid_ < 0) { |
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Wonder if this test could be refactored to avoid the duplicate code for forking / subscribing / verifying messages received that is in the other tests.
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Yeah you're right I'll do that. I had started writing a completely different test but then they ended up very similar so it should be possible to move this to test_plugins.
gazebo_ros/test/CMakeLists.txt
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| foreach(world ${worlds}) | ||
| configure_file(worlds/${world}.world ${world}.world COPYONLY) | ||
| endforeach() |
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May be simpler to just install the worlds directory unless we plan on having non-world files in there
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You mean just configuring the whole directory (i.e. copying to the build folder) or actually installing? I agree with configuring, but I don't think it's a good idea to install them since they're specific to tests; otherwise we'd need to install the plugins too for example.
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Just copying the whole worlds directory to build: 10be195
Redo of #775
Added the
gazebo_ros_initsystem plugin, whose single responsibility is to forward command line arguments fromgzservertorclcpp::init.Also added a simple launch file
empty_world.launch.py, which launchesgzserverwith thegazebo_ros_initplugin. It's not really useful right now, because as I understand it, launch files currently don't support arguments (see [launch] add new concept for LaunchArgument ros2/launch#107). So you might as well callgzserverdirectly.You can try it like this:
ros2 launch gazebo_ros empty_world.launch.pyAdded a test world plugin
ros_world_pluginand test worldros_world_plugin.worldto test that command line arguments passed together withgazebo_ros_initaffect all nodes launched afterwards.For example, something like this should remap the world plugin's topic:
GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:build/gazebo_ros/test/; gzserver --verbose -s libgazebo_ros_init.so src/gazebo_ros_pkgs/gazebo_ros/test/worlds/ros_world_plugin.world ros_world_plugin:/test:=/new_testAnd this should change the name of the node in the world plugin:
GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:build/gazebo_ros/test/; gzserver --verbose -s libgazebo_ros_init.so src/gazebo_ros_pkgs/gazebo_ros/test/worlds/ros_world_plugin.world ros_world_plugin:__node:=new_ros_world_plugin