AS: adding first phase of orientation
This commit is contained in:
Alexander Schaefer
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Metadata-Version: 2.1
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Name: launch-testing-examples
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Version: 0.15.3
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Summary: Examples of simple launch tests
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Home-page: UNKNOWN
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Maintainer: Aditya Pande, Shane Loretz
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Maintainer-email: aditya.pande@openrobotics.org, shane@openrobotics.org
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License: Apache License 2.0
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Platform: UNKNOWN
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UNKNOWN
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README.md
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package.xml
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setup.cfg
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setup.py
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../../../../build/launch_testing_examples/launch_testing_examples.egg-info/PKG-INFO
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../../../../build/launch_testing_examples/launch_testing_examples.egg-info/SOURCES.txt
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../../../../build/launch_testing_examples/launch_testing_examples.egg-info/dependency_links.txt
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../../../../build/launch_testing_examples/launch_testing_examples.egg-info/entry_points.txt
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../../../../build/launch_testing_examples/launch_testing_examples.egg-info/requires.txt
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../../../../build/launch_testing_examples/launch_testing_examples.egg-info/top_level.txt
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../../../../build/launch_testing_examples/launch_testing_examples.egg-info/zip-safe
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launch_testing_examples/__init__.py
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launch_testing_examples/check_msgs_launch_test.py
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launch_testing_examples/check_multiple_nodes_launch_test.py
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launch_testing_examples/check_node_launch_test.py
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launch_testing_examples/hello_world_launch_test.py
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launch_testing_examples/record_rosbag_launch_test.py
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launch_testing_examples/set_param_launch_test.py
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resource/launch_testing_examples
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test/test_copyright.py
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test/test_flake8.py
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test/test_pep257.py
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[console_scripts]
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setuptools
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launch_testing_examples
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# Copyright 2021 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import unittest
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import launch
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import launch.actions
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import launch_ros.actions
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import launch_testing.actions
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import launch_testing.markers
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from launch_testing_ros import WaitForTopics
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import pytest
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from std_msgs.msg import String
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@pytest.mark.launch_test
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@launch_testing.markers.keep_alive
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def generate_test_description():
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return launch.LaunchDescription([
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launch_ros.actions.Node(
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executable='talker',
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package='demo_nodes_cpp',
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name='demo_node_1'
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),
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launch_testing.actions.ReadyToTest()
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])
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class TestFixture(unittest.TestCase):
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def test_check_if_msgs_published(self):
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with WaitForTopics([('chatter', String)], timeout=15.0):
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print('Topic received messages !')
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# Copyright 2021 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import random
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import string
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import time
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import unittest
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import launch
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import launch.actions
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import launch_ros.actions
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import launch_testing.actions
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import launch_testing.markers
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import pytest
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import rclpy
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from rclpy.node import Node
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@pytest.mark.launch_test
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@launch_testing.markers.keep_alive
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def generate_test_description():
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launch_actions = []
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node_names = []
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for i in range(3):
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launch_actions.append(
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launch_ros.actions.Node(
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executable='talker',
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package='demo_nodes_cpp',
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name='demo_node_' + str(i)
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)
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)
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node_names.append('demo_node_' + str(i))
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launch_actions.append(launch_testing.actions.ReadyToTest())
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return launch.LaunchDescription(launch_actions), {'node_list': node_names}
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class CheckMultipleNodesLaunched(unittest.TestCase):
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def test_nodes_successful(self, node_list):
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"""Check if all the nodes were launched correctly."""
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# Method 1
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wait_for_nodes_1 = WaitForNodes(node_list, timeout=5.0)
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assert wait_for_nodes_1.wait()
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assert wait_for_nodes_1.get_nodes_not_found() == set()
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wait_for_nodes_1.shutdown()
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# Method 2
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with WaitForNodes(node_list, timeout=5.0) as wait_for_nodes_2:
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print('All nodes were found !')
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assert wait_for_nodes_2.get_nodes_not_found() == set()
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def test_node_does_not_exist(self, node_list):
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"""Insert a invalid node name that should not exist."""
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invalid_node_list = node_list + ['invalid_node']
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# Method 1
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wait_for_nodes_1 = WaitForNodes(invalid_node_list, timeout=1.0)
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assert not wait_for_nodes_1.wait()
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assert wait_for_nodes_1.get_nodes_not_found() == {'invalid_node'}
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wait_for_nodes_1.shutdown()
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# Method 2
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with pytest.raises(RuntimeError):
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with WaitForNodes(invalid_node_list, timeout=1.0):
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pass
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# TODO (adityapande-1995): Move WaitForNodes implementation to launch_testing_ros
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# after https://github.com/ros2/rclpy/issues/831 is resolved
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class WaitForNodes:
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"""
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Wait to discover supplied nodes.
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Example usage:
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--------------
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# Method 1, calling wait() and shutdown() manually
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def method_1():
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node_list = ['foo', 'bar']
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wait_for_nodes = WaitForNodes(node_list, timeout=5.0)
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assert wait_for_nodes.wait()
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print('Nodes found!')
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assert wait_for_nodes.get_nodes_not_found() == set()
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wait_for_nodes.shutdown()
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# Method 2, using the 'with' keyword
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def method_2():
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with WaitForNodes(['foo', 'bar'], timeout=5.0) as wait_for_nodes:
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assert wait_for_nodes.get_nodes_not_found() == set()
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print('Nodes found!')
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"""
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def __init__(self, node_names, timeout=5.0):
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self.node_names = node_names
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self.timeout = timeout
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self.__ros_context = rclpy.Context()
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rclpy.init(context=self.__ros_context)
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self._prepare_node()
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self.__expected_nodes_set = set(node_names)
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self.__nodes_found = None
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def _prepare_node(self):
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self.__node_name = '_test_node_' +\
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''.join(random.choices(string.ascii_uppercase + string.digits, k=10))
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self.__ros_node = Node(node_name=self.__node_name, context=self.__ros_context)
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def wait(self):
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start = time.time()
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flag = False
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print('Waiting for nodes')
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while time.time() - start < self.timeout and not flag:
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flag = all(name in self.__ros_node.get_node_names() for name in self.node_names)
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time.sleep(0.3)
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self.__nodes_found = set(self.__ros_node.get_node_names())
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self.__nodes_found.remove(self.__node_name)
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return flag
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def shutdown(self):
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self.__ros_node.destroy_node()
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rclpy.shutdown(context=self.__ros_context)
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def __enter__(self):
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if not self.wait():
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raise RuntimeError('Did not find all nodes !')
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return self
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def __exit__(self, exep_type, exep_value, trace):
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if exep_type is not None:
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raise Exception('Exception occured, value: ', exep_value)
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self.shutdown()
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def get_nodes_found(self):
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return self.__nodes_found
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def get_nodes_not_found(self):
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return self.__expected_nodes_set - self.__nodes_found
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# Copyright 2021 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
|
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import time
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import unittest
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import launch
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import launch.actions
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import launch_ros.actions
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import launch_testing.actions
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import launch_testing.markers
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import pytest
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import rclpy
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from rclpy.node import Node
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@pytest.mark.launch_test
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@launch_testing.markers.keep_alive
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def generate_test_description():
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return launch.LaunchDescription([
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launch.actions.TimerAction(
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period=5.0,
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actions=[
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launch_ros.actions.Node(
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executable='talker',
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package='demo_nodes_cpp',
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name='demo_node_1'
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),
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]),
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launch_testing.actions.ReadyToTest()
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])
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class TestFixture(unittest.TestCase):
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def setUp(self):
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rclpy.init()
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self.node = Node('test_node')
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def tearDown(self):
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self.node.destroy_node()
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rclpy.shutdown()
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def test_node_start(self, proc_output):
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start = time.time()
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found = False
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while time.time() - start < 20.0 and not found:
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found = 'demo_node_1' in self.node.get_node_names()
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time.sleep(0.1)
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assert found, 'Node not found !'
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# Copyright 2021 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
|
||||
#
|
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
|
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# distributed under the License is distributed on an "AS IS" BASIS,
|
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# 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.
|
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import unittest
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import launch
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import launch.actions
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import launch_testing.actions
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import launch_testing.markers
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import pytest
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# This function specifies the processes to be run for our test
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@pytest.mark.launch_test
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@launch_testing.markers.keep_alive
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def generate_test_description():
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"""Launch a simple process to print 'hello_world'."""
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return launch.LaunchDescription([
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# Launch a process to test
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launch.actions.ExecuteProcess(
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cmd=['echo', 'hello_world'],
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shell=True
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),
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# Tell launch to start the test
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launch_testing.actions.ReadyToTest()
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])
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# This is our test fixture. Each method is a test case.
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# These run alongside the processes specified in generate_test_description()
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class TestHelloWorldProcess(unittest.TestCase):
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def test_read_stdout(self, proc_output):
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"""Check if 'hello_world' was found in the stdout."""
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# 'proc_output' is an object added automatically by the launch_testing framework.
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# It captures the outputs of the processes launched in generate_test_description()
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# Refer to the documentation for further details.
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proc_output.assertWaitFor('hello_world', timeout=10, stream='stdout')
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# These tests are run after the processes in generate_test_description() have shutdown.
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@launch_testing.post_shutdown_test()
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class TestHelloWorldShutdown(unittest.TestCase):
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def test_exit_codes(self, proc_info):
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"""Check if the processes exited normally."""
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launch_testing.asserts.assertExitCodes(proc_info)
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@@ -0,0 +1,84 @@
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# Copyright 2021 Open Source Robotics Foundation, Inc.
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#
|
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# 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.
|
||||
|
||||
|
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import os
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import shutil
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import tempfile
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import time
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import unittest
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import launch
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import launch.actions
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import launch_ros.actions
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import launch_testing.actions
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import launch_testing.markers
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import pytest
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import yaml
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@pytest.mark.launch_test
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@launch_testing.markers.keep_alive
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def generate_test_description():
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rosbag_dir = os.path.join(tempfile.mkdtemp(), 'test_bag')
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node_list = [
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launch_ros.actions.Node(
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executable='talker',
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package='demo_nodes_cpp',
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name='demo_node'
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),
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launch.actions.ExecuteProcess(
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cmd=['ros2', 'bag', 'record', '-a', '-o', rosbag_dir],
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output='screen'
|
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),
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launch_testing.actions.ReadyToTest()
|
||||
]
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return launch.LaunchDescription(node_list), {'rosbag_dir': rosbag_dir}
|
||||
|
||||
|
||||
class DelayShutdown(unittest.TestCase):
|
||||
|
||||
def test_delay(self):
|
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"""Delay the shutdown of processes so that rosbag can record some messages."""
|
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time.sleep(3)
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||||
|
||||
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||||
# TODO : Test fails on windows, to be fixed
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# https://github.com/ros2/rosbag2/issues/926
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if os.name != 'nt':
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@launch_testing.post_shutdown_test()
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||||
class TestFixtureAfterShutdown(unittest.TestCase):
|
||||
|
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rosbag_dir = None
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||||
def test_rosbag_record(self, rosbag_dir):
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"""Check if the rosbag2 recording was successful."""
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with open(os.path.join(rosbag_dir, 'metadata.yaml'), 'r') as file:
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metadata = yaml.safe_load(file)
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assert metadata['rosbag2_bagfile_information']['message_count'] > 0
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print('The following topics received messages:')
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for item in metadata['rosbag2_bagfile_information']['topics_with_message_count']:
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print(item['topic_metadata']['name'], 'recieved ', item['message_count'],
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' messages')
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||||
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||||
TestFixtureAfterShutdown.rosbag_dir = rosbag_dir
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||||
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||||
@classmethod
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def tearDownClass(cls):
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||||
"""Delete the rosbag directory."""
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||||
print('Deleting ', cls.rosbag_dir)
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||||
shutil.rmtree(cls.rosbag_dir.replace('test_bag', ''))
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@@ -0,0 +1,68 @@
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||||
# Copyright 2021 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 os
|
||||
import unittest
|
||||
|
||||
import launch
|
||||
import launch.actions
|
||||
import launch_ros.actions
|
||||
import launch_testing.actions
|
||||
import launch_testing.markers
|
||||
import pytest
|
||||
from rcl_interfaces.srv import SetParameters
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
|
||||
|
||||
@pytest.mark.launch_test
|
||||
@launch_testing.markers.keep_alive
|
||||
def generate_test_description():
|
||||
return launch.LaunchDescription([
|
||||
launch_ros.actions.Node(
|
||||
executable='parameter_blackboard',
|
||||
package='demo_nodes_cpp',
|
||||
name='demo_node_1'
|
||||
),
|
||||
launch_testing.actions.ReadyToTest()
|
||||
])
|
||||
|
||||
|
||||
# TODO: Fix windows failures for this test
|
||||
if os.name != 'nt':
|
||||
class TestFixture(unittest.TestCase):
|
||||
|
||||
def setUp(self):
|
||||
rclpy.init()
|
||||
self.node = Node('test_node')
|
||||
|
||||
def tearDown(self):
|
||||
self.node.destroy_node()
|
||||
rclpy.shutdown()
|
||||
|
||||
def test_set_parameter(self, proc_output):
|
||||
parameters = [rclpy.Parameter('demo_parameter_1', value=True).to_parameter_msg()]
|
||||
|
||||
client = self.node.create_client(SetParameters, 'demo_node_1/set_parameters')
|
||||
ready = client.wait_for_service(timeout_sec=15.0)
|
||||
if not ready:
|
||||
raise RuntimeError('Wait for service timed out')
|
||||
|
||||
request = SetParameters.Request()
|
||||
request.parameters = parameters
|
||||
future = client.call_async(request)
|
||||
rclpy.spin_until_future_complete(self.node, future, timeout_sec=15.0)
|
||||
|
||||
response = future.result()
|
||||
assert response.results[0].successful, 'Could not set parameter!'
|
||||
@@ -0,0 +1 @@
|
||||
demo_nodes_cpp:launch:launch_ros:launch_testing:launch_testing_ros:python3-pytest:rcl_interfaces:rclpy:ros2bag:std_msgs
|
||||
@@ -0,0 +1 @@
|
||||
prepend-non-duplicate;AMENT_PREFIX_PATH;
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
|
||||
@@ -0,0 +1 @@
|
||||
prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.10/site-packages"
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"
|
||||
@@ -0,0 +1,31 @@
|
||||
# generated from colcon_bash/shell/template/package.bash.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a bash script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
_colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_bash_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source sh script of this package
|
||||
_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/launch_testing_examples/package.sh"
|
||||
|
||||
unset _colcon_package_bash_source_script
|
||||
unset _colcon_package_bash_COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,6 @@
|
||||
source;share/launch_testing_examples/hook/pythonpath.ps1
|
||||
source;share/launch_testing_examples/hook/pythonpath.dsv
|
||||
source;share/launch_testing_examples/hook/pythonpath.sh
|
||||
source;share/launch_testing_examples/hook/ament_prefix_path.ps1
|
||||
source;share/launch_testing_examples/hook/ament_prefix_path.dsv
|
||||
source;share/launch_testing_examples/hook/ament_prefix_path.sh
|
||||
@@ -0,0 +1,116 @@
|
||||
# generated from colcon_powershell/shell/template/package.ps1.em
|
||||
|
||||
# function to append a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as leading separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_append_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
$_duplicate=""
|
||||
# start with no values
|
||||
$_all_values=""
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(";") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -eq $_value) {
|
||||
$_duplicate="1"
|
||||
}
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values};$_"
|
||||
} else {
|
||||
$_all_values="$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# append only non-duplicates
|
||||
if (!$_duplicate) {
|
||||
# avoid leading separator
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values};${_value}"
|
||||
} else {
|
||||
$_all_values="${_value}"
|
||||
}
|
||||
}
|
||||
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_prepend_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
# start with the new value
|
||||
$_all_values="$_value"
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(";") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -ne $_value) {
|
||||
# keep non-duplicate values
|
||||
$_all_values="${_all_values};$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
function colcon_package_source_powershell_script {
|
||||
param (
|
||||
$_colcon_package_source_powershell_script
|
||||
)
|
||||
# source script with conditional trace output
|
||||
if (Test-Path $_colcon_package_source_powershell_script) {
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo ". '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
. "$_colcon_package_source_powershell_script"
|
||||
} else {
|
||||
Write-Error "not found: '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
# a powershell script is able to determine its own path
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
|
||||
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/launch_testing_examples/hook/pythonpath.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/launch_testing_examples/hook/ament_prefix_path.ps1"
|
||||
|
||||
Remove-Item Env:\COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,87 @@
|
||||
# generated from colcon_core/shell/template/package.sh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
_colcon_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prepend_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
# workaround SH_WORD_SPLIT not being set in zsh
|
||||
if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
|
||||
colcon_zsh_convert_to_array _values
|
||||
fi
|
||||
# iterate over existing values in the variable
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
# ignore duplicates of _value
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
# restore the field separator
|
||||
IFS=$_colcon_prepend_unique_value_IFS
|
||||
unset _colcon_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# since a plain shell script can't determine its own path when being sourced
|
||||
# either use the provided COLCON_CURRENT_PREFIX
|
||||
# or fall back to the build time prefix (if it exists)
|
||||
_colcon_package_sh_COLCON_CURRENT_PREFIX="/root/ros2_ws/install/launch_testing_examples"
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
|
||||
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
|
||||
return 1
|
||||
fi
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source sh hooks
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/launch_testing_examples/hook/pythonpath.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/launch_testing_examples/hook/ament_prefix_path.sh"
|
||||
|
||||
unset _colcon_package_sh_source_script
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
|
||||
@@ -0,0 +1,32 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>launch_testing_examples</name>
|
||||
<version>0.15.3</version>
|
||||
<description>Examples of simple launch tests</description>
|
||||
<maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
|
||||
<maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
|
||||
<license>Apache License 2.0</license>
|
||||
|
||||
<author email="aditya.pande@openrobotics.org">Aditya Pande</author>
|
||||
<author email="sloretz@openrobotics.org">Shane Loretz</author>
|
||||
|
||||
<exec_depend>demo_nodes_cpp</exec_depend>
|
||||
<exec_depend>launch</exec_depend>
|
||||
<exec_depend>launch_ros</exec_depend>
|
||||
<exec_depend>launch_testing</exec_depend>
|
||||
<exec_depend>launch_testing_ros</exec_depend>
|
||||
<exec_depend>python3-pytest</exec_depend>
|
||||
<exec_depend>rclpy</exec_depend>
|
||||
<exec_depend>rcl_interfaces</exec_depend>
|
||||
<exec_depend>ros2bag</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
|
||||
<test_depend>ament_copyright</test_depend>
|
||||
<test_depend>ament_flake8</test_depend>
|
||||
<test_depend>ament_pep257</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_python</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@@ -0,0 +1,42 @@
|
||||
# generated from colcon_zsh/shell/template/package.zsh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a zsh script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_zsh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# function to convert array-like strings into arrays
|
||||
# to workaround SH_WORD_SPLIT not being set
|
||||
colcon_zsh_convert_to_array() {
|
||||
local _listname=$1
|
||||
local _dollar="$"
|
||||
local _split="{="
|
||||
local _to_array="(\"$_dollar$_split$_listname}\")"
|
||||
eval $_listname=$_to_array
|
||||
}
|
||||
|
||||
# source sh script of this package
|
||||
_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/launch_testing_examples/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
Reference in New Issue
Block a user