Changes - Add tests for launch_utils of controller manager ros-controls#2147 PR(ros-controls#2768)

Author: robkwan

controller_manager/CMakeLists.txt

@@ -247,30 +247,12 @@ if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake REQUIRED)
   find_package(rclpy REQUIRED)
   install(FILES test/test_ros2_control_node.yaml
-    test/test_controller_load.yaml
-    test/test_ros2_control_node_combined.yaml
     DESTINATION test)
   ament_add_pytest_test(test_ros2_control_node test/test_ros2_control_node_launch.py)
   ament_add_pytest_test(test_test_utils test/test_test_utils.py)
-  ament_add_pytest_test(test_launch_utils_unit test/test_launch_utils_unit.py
-    APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}
-    PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_CURRENT_SOURCE_DIR}:${PYTHONPATH}
-  )
-  # ----------------------------------------------------------------------------
-  # Integration tests for individual launch_utils entry points
-  # ----------------------------------------------------------------------------
-  ament_add_pytest_test(test_launch_utils_integration_list
-    test/test_launch_utils_integration_list.py
-    TIMEOUT 60
-  )
-  ament_add_pytest_test(test_launch_utils_integration_dict
-    test/test_launch_utils_integration_dict.py
-    TIMEOUT 60
-  )
-  ament_add_pytest_test(test_launch_utils_integration_load
-    test/test_launch_utils_integration_load.py
-    TIMEOUT 60
-  )
+
+  # Now include the launch_utils subfolder
+  add_subdirectory(test/test_launch_utils)
 
 endif()
 

controller_manager/test/test_controller3.yaml

@@ -0,0 +1,42 @@
+# This subdirectory handles pytest-based launch tests for controller_manager
+
+find_package(ament_cmake_pytest REQUIRED)
+find_package(launch_testing_ament_cmake REQUIRED)
+find_package(rclpy REQUIRED)
+
+# Install YAML test files
+#
+install(
+  FILES
+    test_controller_load.yaml
+    test_ros2_control_node_combined.yaml
+  DESTINATION test
+)
+
+# Make sure test files get installed into the test tree
+install(
+  FILES
+    test_launch_utils_unit.py
+    test_launch_utils_integration_list.py
+    test_launch_utils_integration_dict.py
+    test_launch_utils_integration_load.py
+  DESTINATION test
+)
+
+# Register each test with ament
+ament_add_pytest_test(test_launch_utils_unit test_launch_utils_unit.py
+    APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}
+    PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_CURRENT_SOURCE_DIR}:${PYTHONPATH}
+)
+ament_add_pytest_test(test_launch_utils_integration_list
+  test_launch_utils_integration_list.py
+  TIMEOUT 60
+)
+ament_add_pytest_test(test_launch_utils_integration_dict
+  test_launch_utils_integration_dict.py
+  TIMEOUT 60
+)
+ament_add_pytest_test(test_launch_utils_integration_load
+  test_launch_utils_integration_load.py
+  TIMEOUT 60
+)

controller_manager/test/test_joint_state_broadcast.yaml

@@ -15,15 +15,14 @@
 
 import pytest
 import unittest
-import os
 import tempfile
 import time
+from pathlib import Path
 
 from ament_index_python.packages import get_package_share_directory, get_package_prefix
 from launch import LaunchDescription
 import launch_testing
 from launch_testing.actions import ReadyToTest
-import launch_testing.markers
 import launch_ros.actions
 
 import rclpy
@@ -45,23 +44,27 @@ def generate_test_description():
     temp_dir = tempfile.mkdtemp()
     print(f"Creating test files in: {temp_dir}")
 
-    # Get URDF, without involving xacro
-    urdf = os.path.join(
-        get_package_share_directory("ros2_control_test_assets"),
-        "urdf",
-        "test_hardware_components.urdf",
+    # URDF path (pathlib version, no xacro)
+    urdf = (
+        Path(get_package_share_directory("ros2_control_test_assets"))
+        / "urdf"
+        / "test_hardware_components.urdf"
     )
+
     with open(urdf) as infp:
         robot_description_content = infp.read()
     robot_description = {"robot_description": robot_description_content}
 
-    robot_controllers = os.path.join(
-        get_package_prefix("controller_manager"), "test", "test_ros2_control_node_combined.yaml"
+    # Path to combined YAML
+    robot_controllers = (
+        Path(get_package_prefix("controller_manager"))
+        / "test"
+        / "test_ros2_control_node_combined.yaml"
     )
 
-    # Verify both files exist
-    assert os.path.isfile(robot_controllers), f"Controller config not created: {robot_controllers}"
-    assert os.path.isfile(urdf), f"URDF not created: {urdf}"
+    # Verify files exist (Path method)
+    assert robot_controllers.is_file(), f"Controller config not found: {robot_controllers}"
+    assert urdf.is_file(), f"URDF not found: {urdf}"
 
     robot_state_pub_node = launch_ros.actions.Node(
         package="robot_state_publisher",
@@ -74,16 +77,16 @@ def generate_test_description():
     control_node = launch_ros.actions.Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_controllers],  # Use the combined config file
+        parameters=[str(robot_controllers)],  # Use the combined config file
         output="both",
     )
 
     # The dictionary keys are the controller names to be spawned/started.
     # Values can be empty lists since config is provided via the main YAML.
     ctrl_dict = {
-        "joint_state_broadcaster": [robot_controllers],
-        "ctrl_with_parameters_and_type": [robot_controllers],
-        "controller3": [robot_controllers],
+        "joint_state_broadcaster": [str(robot_controllers)],
+        "controller1": [str(robot_controllers)],
+        "controller2": [str(robot_controllers)],
     }
     controller_list = list(ctrl_dict.keys())
 
@@ -103,7 +106,7 @@ def generate_test_description():
     # Return tuple with launch description and test context
     return ld, {
         "controller_list": controller_list,  # Key name updated to match the test function
-        "robot_controllers": str(robot_controllers),
+        "robot_controllers": robot_controllers,
         "urdf_file": urdf,
         "temp_dir": temp_dir,
     }
@@ -224,15 +227,15 @@ def test_exit_codes(self, proc_info):
 
         print("[POST-SHUTDOWN] ? All processes exited as expected")
 
-    def test_cleanup_temp_files(self, temp_dir, robot_controllers, urdf_file):
+    def test_cleanup_temp_files(self, temp_dir):
         """Clean up temporary test files."""
         import shutil
 
         print(f"\n[CLEANUP] Removing temporary directory: {temp_dir}")
 
         # The original clean-up logic was commented out, enabling it for safety
         try:
-            if os.path.exists(temp_dir):
+            if temp_dir.exists():
                 shutil.rmtree(temp_dir)
 
             print("[CLEANUP] ? Temporary files removed")

controller_manager/test/test_launch_utils/CMakeLists.txt

@@ -15,15 +15,14 @@
 
 import pytest
 import unittest
-import os
 import time
 import tempfile
+from pathlib import Path
 
 from ament_index_python.packages import get_package_share_directory, get_package_prefix
 from launch import LaunchDescription
 import launch_testing
 from launch_testing.actions import ReadyToTest
-import launch_testing.markers
 import launch_ros.actions
 
 import rclpy
@@ -44,22 +43,24 @@ def generate_test_description():
     print(f"Creating test files in: {temp_dir}")
 
     # Get URDF, without involving xacro
-    urdf = os.path.join(
-        get_package_share_directory("ros2_control_test_assets"),
-        "urdf",
-        "test_hardware_components.urdf",
+    urdf = (
+        Path(get_package_share_directory("ros2_control_test_assets"))
+        / "urdf"
+        / "test_hardware_components.urdf"
     )
     with open(urdf) as infp:
         robot_description_content = infp.read()
     robot_description = {"robot_description": robot_description_content}
 
-    robot_controllers = os.path.join(
-        get_package_prefix("controller_manager"), "test", "test_ros2_control_node_combined.yaml"
+    robot_controllers = (
+        Path(get_package_prefix("controller_manager"))
+        / "test"
+        / "test_ros2_control_node_combined.yaml"
     )
 
-    # Verify both files exist
-    assert os.path.isfile(robot_controllers), f"Controller config not created: {robot_controllers}"
-    assert os.path.isfile(urdf), f"URDF not created: {urdf}"
+    # Verify files exist
+    assert robot_controllers.is_file(), f"Controller config missing: {robot_controllers}"
+    assert urdf.is_file(), f"URDF missing: {urdf}"
 
     robot_state_pub_node = launch_ros.actions.Node(
         package="robot_state_publisher",
@@ -72,20 +73,20 @@ def generate_test_description():
     control_node = launch_ros.actions.Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_controllers],
+        parameters=[str(robot_controllers)],
         output="both",
     )
 
     # ===== DEFINE CONTROLLERS TO SPAWN =====
-    controller_list = ["joint_state_broadcaster", "ctrl_with_parameters_and_type", "controller3"]
+    controller_list = ["joint_state_broadcaster", "controller1", "controller2"]
 
     # ===== GENERATE SPAWNER =====
     print(f"Spawning controllers: {controller_list}")
     print(f"Using config file: {robot_controllers}")
 
     spawner_ld = generate_controllers_spawner_launch_description(
         controller_names=controller_list.copy(),
-        controller_params_files=[robot_controllers],
+        controller_params_files=[str(robot_controllers)],
     )
 
     # ===== CREATE LAUNCH DESCRIPTION =====
@@ -217,14 +218,14 @@ def test_exit_codes(self, proc_info):
 
         print("[POST-SHUTDOWN] ? All processes exited as expected")
 
-    def test_cleanup_temp_files(self, temp_dir, robot_controllers, urdf_file):
+    def test_cleanup_temp_files(self, temp_dir):
         """Clean up temporary test files."""
         import shutil
 
         print(f"\n[CLEANUP] Removing temporary directory: {temp_dir}")
 
         try:
-            if os.path.exists(temp_dir):
+            if temp_dir.exists():
                 shutil.rmtree(temp_dir)
 
             print("[CLEANUP] ? Temporary files removed")

controller_manager/test/test_controller_load.yaml renamed to controller_manager/test/test_launch_utils/test_controller_load.yaml

@@ -15,15 +15,13 @@
 
 import pytest
 import unittest
-import os
 import tempfile
-
+from pathlib import Path
 from ament_index_python.packages import get_package_share_directory, get_package_prefix
 from launch import LaunchDescription
 import launch_testing
 from launch_testing.actions import ReadyToTest
 import launch_testing.asserts
-import launch_testing.markers
 import launch_ros.actions
 
 import rclpy
@@ -67,21 +65,21 @@ def generate_test_description():
     print(f"Creating test files in: {temp_dir}")
 
     # Get URDF, without involving xacro
-    urdf = os.path.join(
-        get_package_share_directory("ros2_control_test_assets"),
-        "urdf",
-        "test_hardware_components.urdf",
+    urdf = (
+        Path(get_package_share_directory("ros2_control_test_assets"))
+        / "urdf"
+        / "test_hardware_components.urdf"
     )
     with open(urdf) as infp:
         robot_description_content = infp.read()
     robot_description = {"robot_description": robot_description_content}
 
-    robot_controllers = os.path.join(
-        get_package_prefix("controller_manager"), "test", "test_controller_load.yaml"
+    robot_controllers = (
+        Path(get_package_prefix("controller_manager")) / "test" / "test_controller_load.yaml"
     )
 
     # Verify both files exist
-    assert os.path.isfile(robot_controllers), f"Controller config not created: {robot_controllers}"
+    assert robot_controllers.is_file(), f"Controller config not created: {robot_controllers}"
 
     robot_state_pub_node = launch_ros.actions.Node(
         package="robot_state_publisher",
@@ -94,15 +92,15 @@ def generate_test_description():
     control_node = launch_ros.actions.Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_controllers],
+        parameters=[str(robot_controllers)],
         output="both",
     )
 
     print(f"Using config file: {robot_controllers}")
 
     spawner_action = generate_load_controller_launch_description(
         controller_name="test_controller_load",
-        controller_params_file=[robot_controllers],
+        controller_params_file=[str(robot_controllers)],
     )
 
     ld = LaunchDescription(
@@ -117,7 +115,7 @@ def generate_test_description():
     return ld, {
         "temp_dir": temp_dir,
         "controller_name": "test_controller_load",
-        "urdf_file": urdf,
+        "urdf_file": str(urdf),
     }
 
 

controller_manager/test/test_launch_utils_integration_dict.py renamed to controller_manager/test/test_launch_utils/test_launch_utils_integration_dict.py

@@ -11,12 +11,12 @@ forward_position_controller:
     type: position_controllers/JointGroupPositionController
     joints: ["joint1"]
 
-ctrl_with_parameters_and_type:
+controller1:
   ros__parameters:
     type: "controller_manager/test_controller"
     joint_names: ["joint1"]
 
-controller3:
+controller2:
   ros__parameters:
     type: "controller_manager/test_controller"
     joint_names: ["joint3"]