Add ROS 2 integration tests, make existing tests more robust (#1024)

Author: EzraBrooks

.github/workflows/main.yml

@@ -17,7 +17,11 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: [noetic]
+        ros_distro:
+          - noetic
+          - humble
+          - jazzy
+          - kilted
         node_version: [20, 22, 24]
     env:
       ROS_DISTRO: ${{ matrix.ros_distro }}

Dockerfile

@@ -17,4 +17,4 @@ COPY test/examples/ /workspace/test/examples/
 EXPOSE 9090
 
 # Default command runs the ROS backend for testing
-CMD ["bash", "-c", "source /opt/ros/$ROS_DISTRO/setup.bash && roslaunch /workspace/test/examples/setup_examples.launch"]
+CMD ["bash", "-c", "source /opt/ros/$ROS_DISTRO/setup.bash && bash /workspace/test/examples/setup_examples.bash"]

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<package>
+<package xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="https://raw.githubusercontent.com/ros-infrastructure/rep/master/xsd/package_format3.xsd" format="3">
   <name>roslibjs</name>
   <version>2.0.0</version>
   <description>The Robot Web Tools ROS JavaScript Library</description>
@@ -18,7 +18,11 @@
   <test_depend>libnss3-dev</test_depend>
   <test_depend>rosbridge_server</test_depend>
   <test_depend>tf2_web_republisher</test_depend>
-  <test_depend>common_tutorials</test_depend>
-  <test_depend>ros_tutorials</test_depend>
+  <test_depend condition="$ROS_VERSION == 1">common_tutorials</test_depend>
+  <test_depend condition="$ROS_VERSION == 1">ros_tutorials</test_depend>
+  <test_depend condition="$ROS_VERSION == 2">action_tutorials_cpp</test_depend>
+  <test_depend condition="$ROS_VERSION == 2">examples_rclpy_minimal_service</test_depend>
+  <test_depend condition="$ROS_VERSION == 2">tf2_ros</test_depend>
+
 
 </package>

src/core/Param.ts

@@ -64,7 +64,7 @@ export default class Param<T = unknown> {
    * @param [failedCallback] - The callback function when the service call failed or the parameter setting was unsuccessful.
    */
   set(
-    value: object,
+    value: T,
     callback?: (message: rosapi.SetParamResponse) => void,
     failedCallback: (error: string) => void = console.error,
   ) {

test/examples/check-topics.example.ts

@@ -1,72 +1,57 @@
-import { describe, it, expect } from "vitest";
+import { describe, it, expect, vi } from "vitest";
 import * as ROSLIB from "../../src/RosLib.js";
 
-const expectedTopics = [
-  /*
-   * '/turtle1/cmd_vel', '/turtle1/color_sensor', '/turtle1/pose',
-   * '/turtle2/cmd_vel', '/turtle2/color_sensor', '/turtle2/pose',
-   */
-  "/tf2_web_republisher/status",
-  "/tf2_web_republisher/feedback",
-  // '/tf2_web_republisher/goal', '/tf2_web_republisher/result',
-  "/fibonacci/feedback",
-  "/fibonacci/status",
-  "/fibonacci/result",
-];
+const expectedTopics = ["/listener"];
 
 describe("Example topics are live", function () {
   const ros = new ROSLIB.Ros({
     url: "ws://localhost:9090",
   });
 
-  it("getTopics", () =>
-    new Promise((done) => {
-      ros.getTopics(function (result) {
-        expectedTopics.forEach(function (topic) {
-          expect(result.topics).to.contain(
-            topic,
-            "Couldn't find topic: " + topic,
-          );
-        });
-        done(result);
-      });
-    }));
+  it("getTopics", async () => {
+    const callback = vi.fn();
+    ros.getTopics(callback);
+    await vi.waitFor(() => {
+      expect(callback).toHaveBeenCalledOnce();
+      for (const topic of expectedTopics) {
+        expect(callback.mock.calls[0][0].topics).to.contain(topic);
+      }
+    });
+  });
 
   const example = ros.Topic({
     name: "/some_test_topic",
     messageType: "std_msgs/String",
   });
 
-  it("doesn't automatically advertise the topic", () =>
-    new Promise((done) => {
-      ros.getTopics(function (result) {
-        expect(result.topics).not.to.contain("/some_test_topic");
-        example.advertise();
-        done(result);
-      });
-    }));
+  it("doesn't automatically advertise the topic", async () => {
+    const callback = vi.fn();
+    ros.getTopics(callback);
+    await vi.waitFor(() => {
+      expect(callback).toHaveBeenCalledOnce();
+      expect(callback.mock.calls[0][0].topics).not.to.contain(
+        "/some_test_topic",
+      );
+    });
+    example.advertise();
+  });
 
-  it("advertise broadcasts the topic", () =>
-    new Promise((done) => {
-      ros.getTopics(function (result) {
-        expect(result.topics).to.contain("/some_test_topic");
-        example.unadvertise();
-        done(result);
-      });
-    }));
+  it("advertise broadcasts the topic", async () => {
+    const callback = vi.fn();
+    ros.getTopics(callback);
+    await vi.waitFor(() => {
+      expect(callback).toHaveBeenCalledOnce();
+      expect(callback.mock.calls[0][0].topics).to.contain("/some_test_topic");
+    });
+    example.unadvertise();
+  });
 
-  it(
-    "unadvertise will end the topic (if it's the last around)",
-    () =>
-      new Promise((done) => {
-        console.log("Unadvertisement test. Wait for 15 seconds..");
-        setTimeout(function () {
-          ros.getTopics(function (result) {
-            expect(result.topics).not.to.contain("/some_test_topic");
-            done(result);
-          });
-        }, 15000);
-      }),
-    20000,
-  );
+  it("unadvertise will end the topic (if it's the last around)", async () => {
+    const callback = vi.fn();
+    ros.getTopics(callback);
+    vi.waitFor(function () {
+      expect(callback).toHaveBeenCalledOnce();
+      expect(callback.mock.calls[0][0]).not.to.contain("/some_test_topic");
+    }, 15000);
+  });
 });

test/examples/fibonacci.example.ts

@@ -1,62 +1,65 @@
 import { describe, it, expect } from "vitest";
 import * as ROSLIB from "../../src/RosLib.js";
 
-describe("Fibonacci Example", function () {
-  it(
-    "Fibonacci",
-    () =>
-      new Promise<void>((done) => {
-        const ros = new ROSLIB.Ros({
-          url: "ws://localhost:9090",
-        });
-        /*
-         * The ActionClient
-         * ----------------
-         */
+// Noetic is the only version of ROS 1 we support, so we skip based on distro name
+// instead of adding extra plumbing for ROS_VERSION.
+describe.skipIf(process.env.ROS_DISTRO !== "noetic")(
+  "ROS 1 Fibonacci Example",
+  function () {
+    it(
+      "Fibonacci",
+      () =>
+        new Promise<void>((done) => {
+          const ros = new ROSLIB.Ros({
+            url: "ws://localhost:9090",
+          });
+          /*
+           * The ActionClient
+           * ----------------
+           */
 
-        const fibonacciClient = new ROSLIB.ActionClient({
-          ros: ros,
-          serverName: "/fibonacci",
-          actionName: "actionlib_tutorials/FibonacciAction",
-        });
+          const fibonacciClient = new ROSLIB.ActionClient({
+            ros: ros,
+            serverName: "/fibonacci",
+            actionName: "actionlib_tutorials/FibonacciAction",
+          });
 
-        // Create a goal.
-        const goal = new ROSLIB.Goal({
-          actionClient: fibonacciClient,
-          goalMessage: {
-            order: 7,
-          },
-        });
+          // Create a goal.
+          const goal = new ROSLIB.Goal({
+            actionClient: fibonacciClient,
+            goalMessage: {
+              order: 7,
+            },
+          });
 
-        // Print out their output into the terminal.
-        const items = [
-          { sequence: [0, 1, 1] },
-          { sequence: [0, 1, 1, 2] },
-          { sequence: [0, 1, 1, 2, 3] },
-          { sequence: [0, 1, 1, 2, 3, 5] },
-          { sequence: [0, 1, 1, 2, 3, 5, 8] },
-          { sequence: [0, 1, 1, 2, 3, 5, 8, 13] },
-          { sequence: [0, 1, 1, 2, 3, 5, 8, 13, 21] },
-        ];
-        goal.on("feedback", function (feedback) {
-          console.log("Feedback:", feedback);
-          expect(feedback).to.eql(items.shift());
-        });
-        goal.on("result", function (result) {
-          console.log("Result:", result);
-          expect(result).to.eql({ sequence: [0, 1, 1, 2, 3, 5, 8, 13, 21] });
-          done();
-        });
+          // Print out their output into the terminal.
+          const items = [
+            { sequence: [0, 1, 1] },
+            { sequence: [0, 1, 1, 2] },
+            { sequence: [0, 1, 1, 2, 3] },
+            { sequence: [0, 1, 1, 2, 3, 5] },
+            { sequence: [0, 1, 1, 2, 3, 5, 8] },
+            { sequence: [0, 1, 1, 2, 3, 5, 8, 13] },
+            { sequence: [0, 1, 1, 2, 3, 5, 8, 13, 21] },
+          ];
+          goal.on("feedback", function (feedback) {
+            expect(feedback).to.eql(items.shift());
+          });
+          goal.on("result", function (result) {
+            expect(result).to.eql({ sequence: [0, 1, 1, 2, 3, 5, 8, 13, 21] });
+            done();
+          });
 
-        /*
-         * Send the goal to the action server.
-         * The timeout is to allow rosbridge to properly subscribe all the
-         * Action topics - otherwise, the first feedback message might get lost
-         */
-        setTimeout(function () {
-          goal.send();
-        }, 100);
-      }),
-    8000,
-  );
-});
+          /*
+           * Send the goal to the action server.
+           * The timeout is to allow rosbridge to properly subscribe all the
+           * Action topics - otherwise, the first feedback message might get lost
+           */
+          setTimeout(function () {
+            goal.send();
+          }, 100);
+        }),
+      8000,
+    );
+  },
+);