Fix Travis config

.travis.yml

@@ -1,7 +1,8 @@
 # This config file for Travis CI utilizes ros-industrial/industrial_ci package.
 # For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
 
-dist: xenial
+dist: trusty
+sudo: required
 services:
   - docker
 language: generic

rosbridge_library/test/capabilities/test_call_service.py

@@ -9,6 +9,7 @@
 
 from json import loads, dumps
 from std_msgs.msg import String
+from std_srvs.srv import SetBool
 
 from rosbridge_library.capabilities.call_service import CallService
 from rosbridge_library.protocol import Protocol
@@ -34,15 +35,14 @@ def test_invalid_arguments(self):
         self.assertRaises(InvalidArgumentException, s.call_service, msg)
 
     def test_call_service_works(self):
-        # First, call the service the 'proper' way
-        p = rospy.ServiceProxy("/rosout/get_loggers", GetLoggers)
+        # Prepare to call the service the 'proper' way
+        p = rospy.ServiceProxy(rospy.get_name() + "/get_loggers", GetLoggers)
         p.wait_for_service()
         time.sleep(1.0)
-        ret = p()
 
         proto = Protocol("test_call_service_works")
         s = CallService(proto)
-        msg = loads(dumps({"op": "call_service", "service": "/rosout/get_loggers"}))
+        msg = loads(dumps({"op": "call_service", "service": rospy.get_name() + "/get_loggers"}))
 
         received = {"msg": None, "arrived": False}
 
@@ -61,15 +61,23 @@ def cb(msg, cid=None):
                 break
             time.sleep(0.1)
 
+        # The rosbridge service call actually causes another logger to appear,
+        # so do the "regular" service call after that.
+        ret = p()
+
         self.assertTrue(received["msg"]["result"])
         for x, y in zip(ret.loggers, received["msg"]["values"]["loggers"]):
             self.assertEqual(x.name, y["name"])
             self.assertEqual(x.level, y["level"])
 
     def test_call_service_fail(self):
+        # Dummy service that instantly fails
+        service_server = rospy.Service("set_bool_fail", SetBool,
+                                       lambda req: None)
+
         proto = Protocol("test_call_service_fail")
         s = CallService(proto)
-        send_msg = loads(dumps({"op": "call_service", "service": "/rosout/set_logger_level", "args": '["ros", "invalid"]'}))
+        send_msg = loads(dumps({"op": "call_service", "service": rospy.get_name() + "/set_bool_fail", "args": '[ true ]'}))
 
         received = {"msg": None, "arrived": False}
         def cb(msg, cid=None):

rosbridge_library/test/internal/test_services.py

@@ -133,19 +133,21 @@ def test_populate_request_args(self):
     def test_service_call(self):
         """ Test a simple getloggers service call """
         # First, call the service the 'proper' way
-        p = rospy.ServiceProxy("/rosout/get_loggers", GetLoggers)
+        p = rospy.ServiceProxy(rospy.get_name() + "/get_loggers", GetLoggers)
+        p.wait_for_service(0.5)
         ret = p()
 
         # Now, call using the services
-        json_ret = services.call_service("/rosout/get_loggers")
+        json_ret = services.call_service(rospy.get_name() + "/get_loggers")
         for x, y in zip(ret.loggers, json_ret["loggers"]):
             self.assertEqual(x.name, y["name"])
             self.assertEqual(x.level, y["level"])
 
     def test_service_caller(self):
         """ Same as test_service_call but via the thread caller """
         # First, call the service the 'proper' way
-        p = rospy.ServiceProxy("/rosout/get_loggers", GetLoggers)
+        p = rospy.ServiceProxy(rospy.get_name() + "/get_loggers", GetLoggers)
+        p.wait_for_service(0.5)
         ret = p()
 
         rcvd = {"json": None}
@@ -157,7 +159,7 @@ def error():
             raise Exception()
 
         # Now, call using the services
-        services.ServiceCaller("/rosout/get_loggers", None, success, error).start()
+        services.ServiceCaller(rospy.get_name() + "/get_loggers", None, success, error).start()
 
         time.sleep(0.5)