Add support for rostest files (closes #2)

helpers/launch.py

@@ -22,6 +22,7 @@ def __init__(self, run_id, roslaunch_files, exclude_node=None, port=None):
         self.roslaunch_files = roslaunch_files
         self.port = port
         self.exclude_node = exclude_node
+        self.is_test = False
 
         self._shutting_down = False
         self.config = self.runner = self.server = self.pm = self.remote_runner = None
@@ -37,7 +38,7 @@ def _exclude_node(self, node_list):
     def _load_config(self):
         self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port)
         self._exclude_node(self.config.nodes)
-        self._exclude_node(self.config.tests)
+        self.is_test = (len(filter(lambda x: rosgraph.names.ns_join(x.namespace, x.name) == self.exclude_node, self.config.tests)) > 0)
 
     def _start_pm(self):
         self.pm = roslaunch.pmon.start_process_monitor()
@@ -127,6 +128,10 @@ def start(self, auto_terminate=True):
             self.pm.registrations_complete()
 
         self.logger.info("... roslaunch parent running, waiting for process exit")
+        if not self.is_test:
+            for test in self.config.tests:
+                test.output = 'screen'
+                self.runner.run_test(test)
 
     def spin(self):
         if not self.runner:
@@ -162,4 +167,7 @@ def get_or_generate_uuid():
     roslaunch.configure_logging(uuid)
     parent = ROSLaunchParent(uuid, [debug_launch_file], exclude_node=debug_node_name)
     parent.start()
-    parent.spin()
+    if parent.is_test:
+        parent.spin()
+    else:
+        parent.runner.stop()

helpers/node_args.py

@@ -26,7 +26,7 @@
     debug_node = None
 
     config = roslaunch.config.load_config_default([debug_launch_file], None)
-    for node in config.nodes:
+    for node in (config.nodes + config.tests):
         fullname = rosgraph.names.ns_join(node.namespace, node.name)
         if fullname == debug_node_name:
             debug_node = node