Final batch of examples #327

adityapande-1995 · 2021-10-13T20:15:37Z

Moved from ros2/launch_ros#269
Signed-off-by: Aditya Pande aditya050995@gmail.com

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

adityapande-1995 · 2021-10-14T20:07:08Z

@ivanpauno if I make number_of_nodes as a launch argument, I won't be able to use it in generate_launch_description() to launch nodes based on that number

adityapande-1995 · 2021-10-14T21:19:35Z

TODO :

Split this example into rosbag2 and wait_for_node action ✔️
For rosbag2, make sure the bag file is written consistently in a temp directory ✔️
For wait_for_node action : Write a complete class like we did for WaitForTopics complete with docstrings, so that we can move it to launch_testing_ros later. (Add a TODO in the comment) ✔️
Remove duplicate examples from original repos once we're done with "moving" examples

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

ivanpauno · 2021-10-20T20:51:20Z

@ivanpauno if I make number_of_nodes as a launch argument, I won't be able to use it in generate_launch_description() to launch nodes based on that number

You can, it's just a bit tricky.
We should have something in launch to make it easier, let me see if I can provide an snippet showing how to do it.

...h_testing/launch_testing_examples/launch_testing_examples/check_multiple_node_launch_test.py

launch_testing/launch_testing_examples/launch_testing_examples/record_rosbag_launch_test.py

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

jacobperron

Thanks for adding these examples! Most of my comments below are minor nitpicks.

launch_testing/launch_testing_examples/README.md

...h_testing/launch_testing_examples/launch_testing_examples/check_multiple_node_launch_test.py

launch_testing/launch_testing_examples/package.xml

launch_testing/launch_testing_examples/launch_testing_examples/record_rosbag_launch_test.py

jacobperron · 2021-10-26T19:43:29Z

launch_testing/launch_testing_examples/launch_testing_examples/record_rosbag_launch_test.py

+
+    def test_delay(self):
+        """Delay the shutdown of processes so that rosbag can record some messages."""
+        time.sleep(3)


This seems like a potential gap in launch_testing. It would be nice if there was a launch_testing feature that could delay the shutdown event. I know there is a KeepAlive action, but I don't know if that is exactly what we want here.

You can just add a Timer action in the launch description with a 3s period that does nothing.
That will keep the launch service alive and delay the shutdown.

It's still kind of a hack though.

launch_testing/launch_testing_examples/launch_testing_examples/record_rosbag_launch_test.py

ivanpauno

LGTM with @jacobperron comments addressed

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

..._testing/launch_testing_examples/launch_testing_examples/check_multiple_nodes_launch_test.py

jacobperron

LGTM with green CI

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

adityapande-1995 · 2021-10-27T18:06:05Z

CI :

build : --packages-above-and-dependencies launch_testing_examples
test : --packages-above launch_testing_examples

Linux
Linux-aarch64
macOS
Windows

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

adityapande-1995 · 2021-10-27T19:21:45Z

CI round 2 :
build : --packages-above-and-dependencies launch_testing_examples
test: --packages-above launch_testing_examples

Linux
Linux-aarch64
macOS
Windows []

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

adityapande-1995 · 2021-10-27T22:03:17Z

CI round 3 :

Linux
Linux-aarch64
macOS
Windows []

adityapande-1995 · 2021-10-28T06:21:45Z

Not sure why but Windows CI can't find the metadata.yaml file generated by the rosbag.

ivanpauno · 2021-10-28T14:00:33Z

Not sure why but Windows CI can't find the metadata.yaml file generated by the rosbag.

I have no idea, I would recommend testing on a windows VM.

Signed-off-by: Aditya <aditya050995@gmail.com>

adityapande-1995 · 2021-11-30T20:22:06Z

CI : Disabled the test record_rosabag_launch_test.py on windows

Linux
Linux-aarch64
macOS
Windows

Macos rerun :

launch_testing/launch_testing_examples/launch_testing_examples/record_rosbag_launch_test.py

adityapande-1995 · 2021-11-30T23:48:54Z

rosbag_record_launch_test.py has been disabled on windows for now due to CI. Relevant issue : ros2/rosbag2#926

Signed-off-by: Aditya <aditya050995@gmail.com>

Added example: Record to rosbag2

45d0fd3

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

adityapande-1995 requested a review from ivanpauno October 13, 2021 20:15

This was referenced Oct 13, 2021

Add example to record bagfile, launch variable number of nodes ros2/launch_ros#269

Closed

launch_testing documentation improvement plan ros2/launch#531

Closed

adityapande-1995 added 4 commits October 13, 2021 13:31

Removed rosbag dependency

41a80a5

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

ros2cli added

ad73723

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

ros2bag added

15f26e3

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

demo_nodes talker node added

4c3f958

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

adityapande-1995 requested a review from jacobperron October 14, 2021 21:16

adityapande-1995 added 3 commits October 15, 2021 15:34

Split test in 2 files, added WaitForNodes utility

5d7b82c

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

typo fix in docstring

73f3eb6

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

Updated readme

ce92035

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

ivanpauno reviewed Oct 20, 2021

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...h_testing/launch_testing_examples/launch_testing_examples/check_multiple_node_launch_test.py Outdated Show resolved Hide resolved

ivanpauno reviewed Oct 20, 2021

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launch_testing/launch_testing_examples/launch_testing_examples/record_rosbag_launch_test.py Outdated Show resolved Hide resolved

Launch script does not require cmdline arguments now

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Signed-off-by: Aditya Pande <aditya050995@gmail.com>

jacobperron reviewed Oct 26, 2021

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ivanpauno approved these changes Oct 26, 2021

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Review changes

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Signed-off-by: Aditya Pande <aditya050995@gmail.com>

jacobperron reviewed Oct 27, 2021

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Delete rosbag in tearDownClass method

46aea7d

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

Windows bugfix

c547867

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

time.sleep for windows

89c6ce3

Signed-off-by: Aditya Pande <aditya050995@gmail.com>

clalancette assigned adityapande-1995 Nov 11, 2021

adityapande-1995 added 3 commits November 30, 2021 08:24

Removed rosbag example

fbe86a1

Signed-off-by: Aditya <aditya050995@gmail.com>

Dont run test for windows

fb8ee51

Signed-off-by: Aditya <aditya050995@gmail.com>

Added comment

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Signed-off-by: Aditya <aditya050995@gmail.com>

jacobperron approved these changes Nov 30, 2021

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adityapande-1995 mentioned this pull request Nov 30, 2021

Windows CI can't find metadata.yaml file when using ros2 bag record ros2/rosbag2#926

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Added comment

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Signed-off-by: Aditya <aditya050995@gmail.com>

adityapande-1995 merged commit 35b181c into master Nov 30, 2021

delete-merged-branch bot deleted the aditya/add_examples_final branch November 30, 2021 23:51

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Final batch of examples #327

Final batch of examples #327

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Final batch of examples #327

Final batch of examples #327

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