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test_zero_joints.py
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test_zero_joints.py
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# Copyright 2020 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
import time
import unittest
from launch import LaunchDescription
from launch_ros.actions import Node
import launch_testing
import pytest
import rclpy
import sensor_msgs.msg
@pytest.mark.rostest
def generate_test_description():
test_urdfs_dir = os.path.dirname(__file__)
return LaunchDescription([
Node(
package='joint_state_publisher',
executable='joint_state_publisher',
arguments=[os.path.join(test_urdfs_dir, 'zero_joint_robot.urdf')]),
launch_testing.actions.ReadyToTest(),
])
class TestZeroJoints(unittest.TestCase):
TIMEOUT = 10
@classmethod
def setUpClass(cls):
rclpy.init()
@classmethod
def tearDownClass(cls):
rclpy.shutdown()
def setUp(self):
# Create a ROS node for tests
self.node = rclpy.create_node('test_zero_joints')
def tearDown(self):
self.node.destroy_node()
def test_joints_not_published(self):
msgs_rx = []
sub = self.node.create_subscription(
sensor_msgs.msg.JointState, 'joint_states', lambda msg: msgs_rx.append(msg), 1)
try:
end_time = time.monotonic() + self.TIMEOUT
while time.monotonic() < end_time:
rclpy.spin_once(self.node, timeout_sec=0.1)
# Nothing should be published
assert [] == msgs_rx
finally:
self.node.destroy_subscription(sub)