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Don't use launch_testing features that will be deprecated #222

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merged 1 commit into from
Oct 21, 2019
Merged

Don't use launch_testing features that will be deprecated #222

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11 changes: 7 additions & 4 deletions test/test_services_across_dynamic_bridge.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ from launch.actions import ExecuteProcess
from launch.actions import OpaqueFunction

import launch_testing
import launch_testing.actions


TEST_BRIDGE_ROS1_ENV = '@TEST_BRIDGE_ROS1_ENV@'
Expand All @@ -38,7 +39,7 @@ TEST_BRIDGE_ROS2_SERVER = '@TEST_BRIDGE_ROS2_SERVER@'
[TEST_BRIDGE_ROS2_SERVER],
[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_ROS1_CLIENT]),
])
def generate_test_description(test_name, server_cmd, client_cmd, ready_fn):
def generate_test_description(test_name, server_cmd, client_cmd):
launch_description = LaunchDescription()

# ROS 1 core
Expand All @@ -65,15 +66,17 @@ def generate_test_description(test_name, server_cmd, client_cmd, ready_fn):
launch_description.add_action(client_process)

launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
launch_testing.actions.ReadyToTest()
)
return launch_description, locals()


class TestServicesAcrossDynamicBridge(unittest.TestCase):
def test_client_process_terminates_after_a_finite_amount_of_time(self, client_process):
def test_client_process_terminates_after_a_finite_amount_of_time(self,
client_process,
proc_info):
"""Test that the client executables terminates after a finite amount of time."""
self.proc_info.assertWaitForShutdown(process=client_process, timeout=30)
proc_info.assertWaitForShutdown(process=client_process, timeout=30)


@launch_testing.post_shutdown_test()
Expand Down
5 changes: 3 additions & 2 deletions test/test_topics_across_dynamic_bridge.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@ from launch.actions import ExecuteProcess
from launch.actions import OpaqueFunction

import launch_testing
import launch_testing.actions
import launch_testing_ros

from ros2run.api import get_executable_path
Expand All @@ -47,7 +48,7 @@ TEST_BRIDGE_RMW = '@TEST_BRIDGE_RMW@'
[TEST_BRIDGE_ROS2_TALKER],
[TEST_BRIDGE_ROS1_ENV] + TEST_BRIDGE_ROS1_LISTENER),
])
def generate_test_description(test_name, talker_cmd, listener_cmd, ready_fn):
def generate_test_description(test_name, talker_cmd, listener_cmd):
launch_description = LaunchDescription()

# ROS 1 core
Expand Down Expand Up @@ -76,7 +77,7 @@ def generate_test_description(test_name, talker_cmd, listener_cmd, ready_fn):
launch_description.add_action(listener_process)

launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
launch_testing.actions.ReadyToTest()
)
return launch_description, locals()

Expand Down