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support: add roslaunch testing. For ros-industrial/fanuc#30.
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@gavanderhoorn
gavanderhoorn committed Feb 17, 2014
1 parent 696de82 commit bf1492e
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Showing 6 changed files with 170 additions and 0 deletions.
5 changes: 5 additions & 0 deletions fanuc_lrmate200ic_support/CMakeLists.txt
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Expand Up @@ -6,6 +6,11 @@ find_package(catkin REQUIRED)

catkin_package()

if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(tests/roslaunch_test.xml)
endif()

foreach(dir config launch meshes urdf)
install(
DIRECTORY ${dir}/
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2 changes: 2 additions & 0 deletions fanuc_lrmate200ic_support/package.xml
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Expand Up @@ -33,6 +33,8 @@

<buildtool_depend>catkin</buildtool_depend>

<build_depend>roslaunch</build_depend>

<run_depend>robot_state_publisher</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>rviz</run_depend>
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78 changes: 78 additions & 0 deletions fanuc_lrmate200ic_support/tests/roslaunch_test.xml
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@@ -0,0 +1,78 @@
<launch>
<arg name="ip_str" value="127.0.0.1" />

<group ns="load_lrmate200ic__">
<include file="$(find fanuc_lrmate200ic_support)/launch/load_lrmate200ic.launch"/>
</group>

<group ns="test_lrmate200ic__">
<include file="$(find fanuc_lrmate200ic_support)/launch/test_lrmate200ic.launch"/>
</group>

<group ns="robot_interface_streaming_lrmate200ic__">
<include file="$(find fanuc_lrmate200ic_support)/launch/robot_interface_streaming_lrmate200ic.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>

<group ns="robot_state_visualize_lrmate200ic__">
<include file="$(find fanuc_lrmate200ic_support)/launch/robot_state_visualize_lrmate200ic.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>


<!-- without bswap -->
<group ns="robot_interface_streaming_lrmate200ic_f__">
<include file="$(find fanuc_lrmate200ic_support)/launch/robot_interface_streaming_lrmate200ic.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>

<group ns="robot_state_visualize_lrmate200ic_f__">
<include file="$(find fanuc_lrmate200ic_support)/launch/robot_state_visualize_lrmate200ic.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>




<group ns="load_lrmate200ic5h__">
<include file="$(find fanuc_lrmate200ic_support)/launch/load_lrmate200ic5h.launch"/>
</group>

<group ns="test_lrmate200ic5h__">
<include file="$(find fanuc_lrmate200ic_support)/launch/test_lrmate200ic5h.launch"/>
</group>

<group ns="robot_interface_streaming_lrmate200ic5h__">
<include file="$(find fanuc_lrmate200ic_support)/launch/robot_interface_streaming_lrmate200ic5h.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>

<group ns="robot_state_visualize_lrmate200ic5h__">
<include file="$(find fanuc_lrmate200ic_support)/launch/robot_state_visualize_lrmate200ic5h.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>


<!-- without bswap -->
<group ns="robot_state_visualize_lrmate200ic5h_f__">
<include file="$(find fanuc_lrmate200ic_support)/launch/robot_state_visualize_lrmate200ic5h.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>

<group ns="robot_interface_streaming_lrmate200ic5h_f__">
<include file="$(find fanuc_lrmate200ic_support)/launch/robot_interface_streaming_lrmate200ic5h.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>
</launch>
5 changes: 5 additions & 0 deletions fanuc_m20ia_support/CMakeLists.txt
View file
Expand Up @@ -6,6 +6,11 @@ find_package(catkin REQUIRED)

catkin_package()

if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(tests/roslaunch_test.xml)
endif()

foreach(dir config launch meshes urdf)
install(
DIRECTORY ${dir}/
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2 changes: 2 additions & 0 deletions fanuc_m20ia_support/package.xml
View file
Expand Up @@ -43,6 +43,8 @@

<buildtool_depend>catkin</buildtool_depend>

<build_depend>roslaunch</build_depend>

<run_depend>robot_state_publisher</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>rviz</run_depend>
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78 changes: 78 additions & 0 deletions fanuc_m20ia_support/tests/roslaunch_test.xml
View file
@@ -0,0 +1,78 @@
<launch>
<arg name="ip_str" value="127.0.0.1" />

<group ns="load_m20ia__">
<include file="$(find fanuc_m20ia_support)/launch/load_m20ia.launch"/>
</group>

<group ns="test_m20ia__">
<include file="$(find fanuc_m20ia_support)/launch/test_m20ia.launch"/>
</group>

<group ns="robot_interface_streaming_m20ia__">
<include file="$(find fanuc_m20ia_support)/launch/robot_interface_streaming_m20ia.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>

<group ns="robot_state_visualize_m20ia__">
<include file="$(find fanuc_m20ia_support)/launch/robot_state_visualize_m20ia.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>


<!-- without bswap -->
<group ns="robot_interface_streaming_m20ia_f__">
<include file="$(find fanuc_m20ia_support)/launch/robot_interface_streaming_m20ia.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>

<group ns="robot_state_visualize_m20ia_f__">
<include file="$(find fanuc_m20ia_support)/launch/robot_state_visualize_m20ia.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>




<group ns="load_m20ia10l__">
<include file="$(find fanuc_m20ia_support)/launch/load_m20ia10l.launch"/>
</group>

<group ns="test_m20ia10l__">
<include file="$(find fanuc_m20ia_support)/launch/test_m20ia10l.launch"/>
</group>

<group ns="robot_interface_streaming_m20ia10l__">
<include file="$(find fanuc_m20ia_support)/launch/robot_interface_streaming_m20ia10l.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>

<group ns="robot_state_visualize_m20ia10l__">
<include file="$(find fanuc_m20ia_support)/launch/robot_state_visualize_m20ia10l.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>


<!-- without bswap -->
<group ns="robot_state_visualize_m20ia10l_f__">
<include file="$(find fanuc_m20ia_support)/launch/robot_state_visualize_m20ia10l.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>

<group ns="robot_interface_streaming_m20ia10l_f__">
<include file="$(find fanuc_m20ia_support)/launch/robot_interface_streaming_m20ia10l.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>
</launch>

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