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Test initializing parameters from command line #274
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dcfb8e8
Add test_cli package with params yaml test
sloretz 5c7e72b
test multiple parameter files via CLI
sloretz 8592186
Check explicitly if variable is not None
sloretz 28610d6
Fix inverted logic
sloretz 41a5dcc
launch -> launch.legacy
mikaelarguedas a3687e2
dependencies in alphabetical order
mikaelarguedas f36e85d
unused include
mikaelarguedas d2b7b76
make it explicit that loop control variable is unused
mikaelarguedas 4b8c886
use default test timeout
mikaelarguedas 568a6d1
test some negative double values as well
mikaelarguedas cd83f0f
Workaround windows temporary file issue
sloretz 004b64d
Fix timeout on windows
sloretz 2c46cdb
Asyncronously get parameters
sloretz 4441214
Use threading instead of asyncio
sloretz deb5998
NamedTemporaryFile -> TemporaryFileWithContent
sloretz 9377eb6
destroy client after spinning
sloretz File filter
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cmake_minimum_required(VERSION 3.5) | ||
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project(test_cli) | ||
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find_package(ament_cmake_auto REQUIRED) | ||
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if(BUILD_TESTING) | ||
# Default to C++14 | ||
if(NOT CMAKE_CXX_STANDARD) | ||
set(CMAKE_CXX_STANDARD 14) | ||
endif() | ||
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find_package(ament_cmake REQUIRED) | ||
find_package(ament_lint_auto REQUIRED) | ||
find_package(ament_cmake_pytest REQUIRED) | ||
find_package(rclcpp REQUIRED) | ||
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ament_lint_auto_find_test_dependencies() | ||
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add_executable(initial_params_rclcpp | ||
test/initial_params.cpp) | ||
ament_target_dependencies(initial_params_rclcpp | ||
"rclcpp") | ||
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ament_add_pytest_test(test_params_yaml | ||
test/test_params_yaml.py | ||
ENV | ||
INITIAL_PARAMS_RCLCPP=$<TARGET_FILE:initial_params_rclcpp> | ||
) | ||
set_tests_properties(test_params_yaml | ||
PROPERTIES DEPENDS | ||
initial_params_rclcpp) | ||
endif() | ||
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ament_auto_package() |
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<?xml version="1.0"?> | ||
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="2"> | ||
<name>test_cli</name> | ||
<version>0.4.0</version> | ||
<description> | ||
Test command line arguments passed to ros2 executables. | ||
</description> | ||
<maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer> | ||
<license>Apache License 2.0</license> | ||
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<buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
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<build_depend>ament_cmake</build_depend> | ||
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<test_depend>ament_cmake_pytest</test_depend> | ||
<test_depend>ament_lint_auto</test_depend> | ||
<test_depend>ament_lint_common</test_depend> | ||
<test_depend>launch</test_depend> | ||
<test_depend>rcl_interfaces</test_depend> | ||
<test_depend>rclcpp</test_depend> | ||
<test_depend>rclpy</test_depend> | ||
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<export> | ||
<build_type>ament_cmake</build_type> | ||
</export> | ||
</package> |
Empty file.
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// Copyright 2018 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. | ||
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#include <string> | ||
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#include "rclcpp/rclcpp.hpp" | ||
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int main(int argc, char ** argv) | ||
{ | ||
rclcpp::init(argc, argv); | ||
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std::string node_name = "initial_params_node"; | ||
std::string namespace_ = "/"; | ||
auto node = rclcpp::Node::make_shared(node_name, namespace_); | ||
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rclcpp::spin(node); | ||
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rclcpp::shutdown(); | ||
return 0; | ||
} |
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# Copyright 2018 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. | ||
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import pytest | ||
from rcl_interfaces.msg import ParameterType | ||
from rcl_interfaces.srv import GetParameters | ||
import rclpy | ||
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from .utils import BackgroundExecutor | ||
from .utils import HelperCommand | ||
from .utils import NamedTemporaryFile | ||
from .utils import require_environment_variable | ||
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CLIENT_LIBRARY_EXECUTABLES = ( | ||
require_environment_variable('INITIAL_PARAMS_RCLCPP'), | ||
) | ||
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@pytest.fixture(scope='module', params=CLIENT_LIBRARY_EXECUTABLES) | ||
def node_fixture(request): | ||
"""Create a fixture with a node and helper executable.""" | ||
rclpy.init() | ||
node = rclpy.create_node('tests_yaml') | ||
try: | ||
yield { | ||
'node': node, | ||
'executable': request.param, | ||
} | ||
finally: | ||
node.destroy_node() | ||
rclpy.shutdown() | ||
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def get_params(node, node_name, param_names, wfs_timeout=5.0): | ||
with BackgroundExecutor(node): | ||
client = node.create_client(GetParameters, '/{name}/get_parameters'.format(name=node_name)) | ||
assert client.wait_for_service(timeout_sec=wfs_timeout) | ||
request = GetParameters.Request() | ||
request.names = param_names | ||
resp = client.call(request) | ||
node.destroy_client(client) | ||
return resp | ||
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def test_bool_params(node_fixture): | ||
param_file_content = """ | ||
bool_params: | ||
ros__parameters: | ||
b1: False | ||
b2: True | ||
""" | ||
with NamedTemporaryFile(param_file_content) as yaml_file: | ||
command = (node_fixture['executable'], '__params:=' + yaml_file, '__node:=bool_params') | ||
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with HelperCommand(command): | ||
resp = get_params(node_fixture['node'], 'bool_params', ['b1', 'b2']) | ||
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assert 2 == len(resp.values) | ||
assert ParameterType.PARAMETER_BOOL == resp.values[0].type | ||
assert ParameterType.PARAMETER_BOOL == resp.values[1].type | ||
assert not resp.values[0].bool_value | ||
assert resp.values[1].bool_value | ||
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def test_integer_params(node_fixture): | ||
param_file_content = """ | ||
int_params: | ||
ros__parameters: | ||
i1: 42 | ||
i2: -27 | ||
""" | ||
with NamedTemporaryFile(param_file_content) as yaml_file: | ||
command = (node_fixture['executable'], '__params:=' + yaml_file, '__node:=int_params') | ||
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with HelperCommand(command): | ||
resp = get_params(node_fixture['node'], 'int_params', ['i1', 'i2']) | ||
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assert 2 == len(resp.values) | ||
assert ParameterType.PARAMETER_INTEGER == resp.values[0].type | ||
assert ParameterType.PARAMETER_INTEGER == resp.values[1].type | ||
assert 42 == resp.values[0].integer_value | ||
assert -27 == resp.values[1].integer_value | ||
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def test_double_params(node_fixture): | ||
param_file_content = """ | ||
double_params: | ||
ros__parameters: | ||
d1: 3.14 | ||
d2: -2.718 | ||
""" | ||
with NamedTemporaryFile(param_file_content) as yaml_file: | ||
command = (node_fixture['executable'], '__params:=' + yaml_file, '__node:=double_params') | ||
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with HelperCommand(command): | ||
resp = get_params(node_fixture['node'], 'double_params', ['d1', 'd2']) | ||
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assert 2 == len(resp.values) | ||
assert ParameterType.PARAMETER_DOUBLE == resp.values[0].type | ||
assert ParameterType.PARAMETER_DOUBLE == resp.values[1].type | ||
assert pytest.approx(3.14) == resp.values[0].double_value | ||
assert pytest.approx(-2.718) == resp.values[1].double_value | ||
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def test_string_params(node_fixture): | ||
param_file_content = """ | ||
str_params: | ||
ros__parameters: | ||
s1: hello | ||
s2: world | ||
""" | ||
with NamedTemporaryFile(param_file_content) as yaml_file: | ||
command = (node_fixture['executable'], '__params:=' + yaml_file, '__node:=str_params') | ||
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with HelperCommand(command): | ||
resp = get_params(node_fixture['node'], 'str_params', ['s1', 's2']) | ||
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assert 2 == len(resp.values) | ||
assert ParameterType.PARAMETER_STRING == resp.values[0].type | ||
assert ParameterType.PARAMETER_STRING == resp.values[1].type | ||
assert resp.values[0].string_value == 'hello' | ||
assert resp.values[1].string_value == 'world' | ||
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# TODO(sloretz) PARAMETER_BYTE_ARRAY when rcl_yaml_param_parser supports it | ||
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def test_bool_array_params(node_fixture): | ||
param_file_content = """ | ||
ba_params: | ||
ros__parameters: | ||
ba1: [true, false] | ||
ba2: [false, true] | ||
""" | ||
with NamedTemporaryFile(param_file_content) as yaml_file: | ||
command = (node_fixture['executable'], '__params:=' + yaml_file, '__node:=ba_params') | ||
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with HelperCommand(command): | ||
resp = get_params(node_fixture['node'], 'ba_params', ['ba1', 'ba2']) | ||
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assert 2 == len(resp.values) | ||
assert ParameterType.PARAMETER_BOOL_ARRAY == resp.values[0].type | ||
assert ParameterType.PARAMETER_BOOL_ARRAY == resp.values[1].type | ||
assert resp.values[0].bool_array_value == [True, False] | ||
assert resp.values[1].bool_array_value == [False, True] | ||
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def test_integer_array_params(node_fixture): | ||
param_file_content = """ | ||
ia_params: | ||
ros__parameters: | ||
ia1: [42, -27] | ||
ia2: [1234, 5678] | ||
""" | ||
with NamedTemporaryFile(param_file_content) as yaml_file: | ||
command = (node_fixture['executable'], '__params:=' + yaml_file, '__node:=ia_params') | ||
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with HelperCommand(command): | ||
resp = get_params(node_fixture['node'], 'ia_params', ['ia1', 'ia2']) | ||
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assert 2 == len(resp.values) | ||
assert ParameterType.PARAMETER_INTEGER_ARRAY == resp.values[0].type | ||
assert ParameterType.PARAMETER_INTEGER_ARRAY == resp.values[1].type | ||
assert resp.values[0].integer_array_value == [42, -27] | ||
assert resp.values[1].integer_array_value == [1234, 5678] | ||
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def test_double_array_params(node_fixture): | ||
param_file_content = """ | ||
da_params: | ||
ros__parameters: | ||
da1: [3.14, -2.718] | ||
da2: [1234.5, -9999.0] | ||
""" | ||
with NamedTemporaryFile(param_file_content) as yaml_file: | ||
command = (node_fixture['executable'], '__params:=' + yaml_file, '__node:=da_params') | ||
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with HelperCommand(command): | ||
resp = get_params(node_fixture['node'], 'da_params', ['da1', 'da2']) | ||
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assert 2 == len(resp.values) | ||
assert ParameterType.PARAMETER_DOUBLE_ARRAY == resp.values[0].type | ||
assert ParameterType.PARAMETER_DOUBLE_ARRAY == resp.values[1].type | ||
assert resp.values[0].double_array_value == pytest.approx([3.14, -2.718]) | ||
assert resp.values[1].double_array_value == pytest.approx([1234.5, -9999.0]) | ||
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def test_string_array_params(node_fixture): | ||
param_file_content = """ | ||
sa_params: | ||
ros__parameters: | ||
sa1: ['Four', 'score'] | ||
sa2: ['and', 'seven'] | ||
""" | ||
with NamedTemporaryFile(param_file_content) as yaml_file: | ||
command = (node_fixture['executable'], '__params:=' + yaml_file, '__node:=sa_params') | ||
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with HelperCommand(command): | ||
resp = get_params(node_fixture['node'], 'sa_params', ['sa1', 'sa2']) | ||
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assert 2 == len(resp.values) | ||
assert ParameterType.PARAMETER_STRING_ARRAY == resp.values[0].type | ||
assert ParameterType.PARAMETER_STRING_ARRAY == resp.values[1].type | ||
assert resp.values[0].string_array_value == ['Four', 'score'] | ||
assert resp.values[1].string_array_value == ['and', 'seven'] | ||
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def test_multiple_parameter_files(node_fixture): | ||
first_yaml_content = """ | ||
multi_params: | ||
ros__parameters: | ||
i1: 42 | ||
i2: -27 | ||
""" | ||
second_yaml_content = """ | ||
multi_params: | ||
ros__parameters: | ||
i2: 12345 | ||
i3: -27 | ||
""" | ||
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with NamedTemporaryFile(first_yaml_content) as first_yaml_file: | ||
with NamedTemporaryFile(second_yaml_content) as second_yaml_file: | ||
command = ( | ||
node_fixture['executable'], | ||
'__params:=' + first_yaml_file, | ||
'__params:=' + second_yaml_file, | ||
'__node:=multi_params' | ||
) | ||
with HelperCommand(command): | ||
resp = get_params(node_fixture['node'], 'multi_params', ['i1', 'i2', 'i3']) | ||
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assert 3 == len(resp.values) | ||
assert ParameterType.PARAMETER_INTEGER == resp.values[0].type | ||
assert ParameterType.PARAMETER_INTEGER == resp.values[1].type | ||
assert ParameterType.PARAMETER_INTEGER == resp.values[2].type | ||
assert 42 == resp.values[0].integer_value | ||
assert 12345 == resp.values[1].integer_value | ||
assert -27 == resp.values[2].integer_value |
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Seems like an unused dependency?