Add ros_testing metapackage and ros2test CLI package (#1)

* Add ros2 test CLI command.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Add ros2 testing metapackage.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Add add_ros_test() CMake convenience macro.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Apply minor fixes to ros2 test CLI command.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Drop ROS2 specific naming.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Apply misc fixes to the ros_testing package.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Apply misc fixes to the ros2test package.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Change ros2test and ros_testing versions.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

ros2test/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format2.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>ros2test</name>
+  <version>0.1.0</version>
+  <description>The test command for ROS 2 launch tests.</description>
+  <maintainer email="michel@ekumenlabs.com">Michel Hidalgo</maintainer>
+  <license>Apache License 2.0</license>
+
+  <depend>launch</depend>
+  <depend>launch_ros</depend>
+  <depend>launch_testing</depend>
+  <depend>launch_testing_ros</depend>
+  <depend>ros2cli</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2test/ros2test/command/test.py

@@ -0,0 +1,32 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import launch_testing.launch_test
+import launch_testing_ros
+
+from ros2cli.command import CommandExtension
+
+
+class TestCommand(CommandExtension):
+    """Run a ROS2 launch test."""
+
+    def add_arguments(self, parser, cli_name):
+        """Add arguments to argparse."""
+        launch_testing.launch_test.add_arguments(parser)
+
+    def main(self, *, parser, args):
+        """Entry point for CLI program."""
+        return launch_testing.launch_test.run(
+            parser, args, test_runner_cls=launch_testing_ros.LaunchTestRunner
+        )

ros2test/setup.py

@@ -0,0 +1,33 @@
+from setuptools import find_packages
+from setuptools import setup
+
+setup(
+    name='ros2test',
+    version='0.1.0',
+    packages=find_packages(exclude=['test']),
+    install_requires=['ros2cli'],
+    zip_safe=True,
+    author='Michel Hidalgo',
+    author_email='michel@ekumenlabs.com',
+    maintainer='Michel Hidalgo',
+    maintainer_email='michel@ekumenlabs.com',
+    url='https://github.com/ros2/rostest/tree/master/ros2test',
+    download_url='https://github.com/ros2/rostest/releases',
+    keywords=[],
+    classifiers=[
+        'Environment :: Console',
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+    ],
+    description='The test command for ROS 2 launch tests.',
+    long_description="""\
+This package provides the test command for ROS 2 launch tests.""",
+    license='Apache License, Version 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'ros2cli.command': [
+            'test = ros2test.command.test:TestCommand',
+        ],
+    }
+)

ros2test/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros2test/test/test_flake8.py

@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'

ros2test/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=[])
+    assert rc == 0, 'Found code style errors / warnings'

ros_testing/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(ros_testing NONE)
+
+find_package(ament_cmake_core REQUIRED)
+
+ament_package(
+  CONFIG_EXTRAS "${PROJECT_NAME}-extras.cmake"
+)
+
+install(
+  DIRECTORY cmake
+  DESTINATION share/${PROJECT_NAME}
+)

ros_testing/cmake/add_ros_test.cmake

@@ -0,0 +1,81 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#  This file contains modified code from the following open source projects
+#  published under the licenses listed below:
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# 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 Willow Garage, Inc. 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 OWNER 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.
+
+#
+# Add a ROS test
+#
+# :param file: The ROS launch test file containing the test to run
+# :type file: string
+# :param TARGET: The test target name
+# :type TARGET: string
+# :param TIMEOUT: The test timeout in seconds
+# :type TIMEOUT: integer
+# :param ARGS: Launch arguments to pass to the ROS launch test
+# :type ARGS: string
+function(add_ros_test filename)
+  parse_launch_test_arguments(_ros_test ${filename} ${ARGN})
+
+  set(cmd
+    "ros2"
+    "test"
+    "${_ros_test_FILE_NAME}"
+    "${_ros_test_ARGS}"
+    "--junit-xml=${_ros_test_RESULT_FILE}"
+    "--package-name=${PROJECT_NAME}"
+  )
+
+  ament_add_test(
+    "${_ros_test_TARGET}"
+    COMMAND ${cmd}
+    OUTPUT_FILE "${CMAKE_BINARY_DIR}/ros_test/CHANGEME.txt"
+    RESULT_FILE "${_ros_test_RESULT_FILE}"
+    TIMEOUT "${_ros_test_TIMEOUT}"
+    ${_ros_test_UNPARSED_ARGUMENTS}
+  )
+endfunction()

ros_testing/package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>ros_testing</name>
+  <version>0.1.0</version>
+  <description>The entry point package to launch testing in ROS.</description>
+  <maintainer email="michel@ekumenlabs.com">Michel Hidalgo</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="michel@ekumenlabs.com">Michel Hidalgo</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_export_depend>launch_testing_ament_cmake</buildtool_export_depend>
+  <buildtool_export_depend>ros2test</buildtool_export_depend>
+
+  <build_depend>ament_cmake_core</build_depend>
+  <build_depend>ament_cmake_export_dependencies</build_depend>
+
+  <build_export_depend>launch_testing</build_export_depend>
+  <build_export_depend>launch_testing_ros</build_export_depend>
+  <build_export_depend>launch_testing_ament_cmake</build_export_depend>
+
+  <exec_depend>launch_testing</exec_depend>
+  <exec_depend>launch_testing_ros</exec_depend>
+  <exec_depend>ros2test</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ros_testing/ros_testing-extras.cmake

@@ -0,0 +1,17 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+find_package(launch_testing_ament_cmake REQUIRED)
+
+include("${ros_testing_DIR}/add_ros_test.cmake")