Add topic remap test (backport #577, #695, #700)

example_11/CMakeLists.txt

@@ -68,6 +68,7 @@ if(BUILD_TESTING)
   ament_add_pytest_test(example_11_urdf_xacro test/test_urdf_xacro.py)
   ament_add_pytest_test(view_example_11_launch test/test_view_robot_launch.py)
   ament_add_pytest_test(run_example_11_launch test/test_carlikebot_launch.py)
+  ament_add_pytest_test(run_example_11_launch_remapped test/test_carlikebot_launch_remapped.py)
 endif()
 
 ## EXPORTS

example_11/test/test_carlikebot_launch.py

@@ -37,6 +37,7 @@
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
+from launch_testing_ros import WaitForTopics
 
 # import launch_testing.markers
 import rclpy
@@ -46,6 +47,8 @@
     check_node_running,
 )
 
+from tf2_msgs.msg import TFMessage
+
 
 # Executes the given launch file and checks if all nodes can be started
 @pytest.mark.rostest
@@ -98,6 +101,13 @@ def test_check_if_msgs_published(self):
             ],
         )
 
+    def test_remapped_topic(self):
+        # test if the remapping of the odometry topic is disabled
+        old_topic = "/bicycle_steering_controller/tf_odometry"
+        wait_for_topics = WaitForTopics([(old_topic, TFMessage)])
+        assert wait_for_topics.wait(), f"Topic '{old_topic}' not found!"
+        wait_for_topics.shutdown()
+
 
 # TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
 # @launch_testing.post_shutdown_test()

example_11/test/test_carlikebot_launch_remapped.py

@@ -0,0 +1,120 @@
+# Copyright (c) 2024 AIT - Austrian Institute of Technology GmbH
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Christoph Froehlich
+
+import os
+import pytest
+import unittest
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_testing.actions import ReadyToTest
+from launch_testing_ros import WaitForTopics
+
+# import launch_testing.markers
+import rclpy
+from ros2_control_demo_testing.test_utils import (
+    check_controllers_running,
+    check_if_js_published,
+    check_node_running,
+)
+
+from tf2_msgs.msg import TFMessage
+
+
+# Executes the given launch file and checks if all nodes can be started
+@pytest.mark.rostest
+def generate_test_description():
+    launch_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("ros2_control_demo_example_11"),
+                "launch/carlikebot.launch.py",
+            )
+        ),
+        launch_arguments={"gui": "false", "remap_odometry_tf": "true"}.items(),
+    )
+
+    return LaunchDescription([launch_include, ReadyToTest()])
+
+
+# This is our test fixture. Each method is a test case.
+# These run alongside the processes specified in generate_test_description()
+class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
+
+    def setUp(self):
+        self.node = rclpy.create_node("test_node")
+
+    def tearDown(self):
+        self.node.destroy_node()
+
+    def test_node_start(self, proc_output):
+        check_node_running(self.node, "robot_state_publisher")
+
+    def test_controller_running(self, proc_output):
+
+        cnames = ["bicycle_steering_controller", "joint_state_broadcaster"]
+
+        check_controllers_running(self.node, cnames)
+
+    def test_check_if_msgs_published(self):
+        check_if_js_published(
+            "/joint_states",
+            [
+                "virtual_front_wheel_joint",
+                "virtual_rear_wheel_joint",
+            ],
+        )
+
+    def test_remapped_topic(self):
+        # we don't want to implement a tf lookup here
+        # so just check if the unmapped topic is not published
+        old_topic = "/bicycle_steering_controller/tf_odometry"
+        wait_for_topics = WaitForTopics([(old_topic, TFMessage)])
+        assert not wait_for_topics.wait(), f"Topic '{old_topic}' found, but should be remapped!"
+        wait_for_topics.shutdown()
+
+
+# TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
+# @launch_testing.post_shutdown_test()
+# # These tests are run after the processes in generate_test_description() have shutdown.
+# class TestDescriptionCraneShutdown(unittest.TestCase):
+
+#     def test_exit_codes(self, proc_info):
+#         """Check if the processes exited normally."""
+#         launch_testing.asserts.assertExitCodes(proc_info)