update tests to launch_testing

src/pf_description/CMakeLists.txt

@@ -4,9 +4,9 @@ project(pf_description)
 find_package(ament_cmake REQUIRED)
 
 if(BUILD_TESTING)
-  find_package(rostest REQUIRED)
-  add_rostest(tests/test_r2000_bringup.launch)
-  add_rostest(tests/test_r2300_bringup.launch)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  add_launch_test(tests/test_r2000_bringup.launch.py)
+  add_launch_test(tests/test_r2300_bringup.launch.py)
 endif()
 
 install(DIRECTORY launch meshes rviz urdf DESTINATION share/${PROJECT_NAME})

src/pf_description/package.xml

@@ -18,6 +18,8 @@
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
+  <test_depend>launch_testing</test_depend>
+
 
   <export>
     <build_type>ament_cmake</build_type>

src/pf_description/tests/test_r2000_bringup.launch.py

@@ -0,0 +1,27 @@
+from ament_index_python import get_package_share_directory
+import launch
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+import launch_testing
+import os
+import pytest
+
+@pytest.mark.rostest
+def generate_test_description():
+
+    launch_desc = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                os.path.join(get_package_share_directory("pf_description"), "launch"),
+                "/pf_bringup.launch.py",
+            ]
+        )
+    )
+
+    ready_to_test = launch.actions.TimerAction(
+        period=5.0,
+        actions=[launch_testing.actions.ReadyToTest()],
+    )
+
+    return (LaunchDescription([launch_desc, ready_to_test]), {})

src/pf_description/tests/test_r2300_bringup.launch.py

@@ -0,0 +1,28 @@
+from ament_index_python import get_package_share_directory
+import launch
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+import launch_testing
+import os
+import pytest
+
+@pytest.mark.rostest
+def generate_test_description():
+
+    launch_desc = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                os.path.join(get_package_share_directory("pf_description"), "launch"),
+                "/pf_bringup.launch.py",
+            ]
+        ),
+        launch_arguments = {'scanner': 'r2300'}.items()
+    )
+
+    ready_to_test = launch.actions.TimerAction(
+        period=5.0,
+        actions=[launch_testing.actions.ReadyToTest()],
+    )
+
+    return (LaunchDescription([launch_desc, ready_to_test]), {})