Check all launched nodes have exited

And check they exit code to decide success/fail of launch file

flexbe_testing/src/flexbe_testing/test_context.py

@@ -38,6 +38,9 @@ def spin_once(self):
     def __exit__(self, exception_type, exception_value, traceback):
         pass
 
+    def wait_for_finishing(self):
+        pass
+
     @property
     def success(self):
         return True
@@ -51,7 +54,8 @@ def __init__(self, launch_config, wait_cond="True"):
         launchpath = None
         launchcontent = None
 
-        self._exit_codes = []
+        self._launched_proc_names = []
+        self._exit_codes = {}
 
         # load from system path
         if launch_config.startswith('~') or launch_config.startswith('/'):
@@ -72,7 +76,10 @@ def __init__(self, launch_config, wait_cond="True"):
         else:
             loader.load_string(launchcontent, launchconfig, verbose=False)
         self._launchrunner = roslaunch.launch.ROSLaunchRunner(self._run_id, launchconfig)
-        self._launchrunner.add_process_listener(Callback(lambda process_name, exit_code: self._exit_codes.append(exit_code)))
+
+        def store(process_name, exit_code):
+            self._exit_codes[process_name] = exit_code
+        self._launchrunner.add_process_listener(Callback(store))
         self._wait_cond = wait_cond
         self._valid = True
 
@@ -82,6 +89,8 @@ def __enter__(self):
         Logger.print_positive('launchfile running')
         self._valid = True
 
+        self._launched_proc_names = [p.name for p in self._launchrunner.pm.procs]
+
         try:
             check_running_rate = rospy.Rate(10)
             is_running = False
@@ -99,6 +108,12 @@ def verify(self):
     def spin_once(self):
         self._launchrunner.spin_once()
 
+    def wait_for_finishing(self):
+        check_exited_rate = rospy.Rate(10)
+        rospy.loginfo("Waiting for all launched nodes to exit")
+        while not all(name in self._exit_codes for name in self._launched_proc_names):
+            check_exited_rate.sleep()
+
     def __exit__(self, exception_type, exception_value, traceback):
         self._launchrunner.stop()
         Logger.print_positive('launchfile stopped')

flexbe_testing/src/flexbe_testing/tester.py

@@ -95,6 +95,9 @@ def run_test(self, name, config):
                     self._tests['test_%s_pass' % name] = self._test_pass(False)
                     return 0
 
+                if config.get('require_launch_success', False):
+                    context.wait_for_finishing()
+
             # evaluate outcome
             self._tests['test_%s_outcome' % name] = self._test_outcome(outcome, config['outcome'])
             outcome_ok = outcome == config['outcome']