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Load composable nodes in sequence (backport #315) #316

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Apr 28, 2022
Merged

Load composable nodes in sequence (backport #315) #316

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39 changes: 22 additions & 17 deletions test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -329,23 +329,28 @@ def test_load_node_with_param_file(mock_component_container):

# Case 6: multiple entries (params with node name should take precedence over wildcard params)
context = _assert_launch_no_errors([
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='node_1',
namespace='ns_1',
parameters=[
parameters_file_dir / 'example_parameters_multiple_entries.yaml'
],
),
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='node_2',
namespace='ns_2',
parameters=[
parameters_file_dir / 'example_parameters_multiple_entries.yaml'
],
LoadComposableNodes( # Load in same action so it happens sequentially
target_container=f'/{TEST_CONTAINER_NAME}',
composable_node_descriptions=[
ComposableNode(
package='foo_package',
plugin='bar_plugin',
name='node_1',
namespace='ns_1',
parameters=[
parameters_file_dir / 'example_parameters_multiple_entries.yaml'
]
),
ComposableNode(
package='foo_package',
plugin='bar_plugin',
name='node_2',
namespace='ns_2',
parameters=[
parameters_file_dir / 'example_parameters_multiple_entries.yaml'
]
)
]
)
])
request = mock_component_container.requests[-2]
Expand Down