WIP: Tests for ROS 2 action client

docker/ros2/Dockerfile

@@ -8,7 +8,8 @@ RUN apt-get update && apt-get install -y \
     ros-${ROS_DISTRO}-rosbridge-suite \
     # ros-${ROS_DISTRO}-tf2-web-republisher \
     # ros-${ROS_DISTRO}-ros-tutorials \
-    # ros-${ROS_DISTRO}-actionlib-tutorials \
+    ros-${ROS_DISTRO}-examples-rclpy-minimal-action-server \
+    ros-${ROS_DISTRO}-example-interfaces \
     --no-install-recommends \
     # Clear apt-cache to reduce image size
     && rm -rf /var/lib/apt/lists/*

docker/ros2/integration-tests.launch

@@ -1,4 +1,7 @@
 <launch>
-    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml" />
-    <!-- <node pkg="tf2_web_republisher" type="tf2_web_republisher" name="tf2_web_republisher"></node> -->
+  <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
+    <let name="send_action_goals_in_new_thread" value="true"/>
+  </include>
+  <!-- <node pkg="tf2_web_republisher" type="tf2_web_republisher" name="tf2_web_republisher"></node> -->
+  <node pkg="examples_rclpy_minimal_action_server" exec="server"/>
 </launch>

tests/ros2/test_actions_client.py

@@ -0,0 +1,67 @@
+from __future__ import print_function
+
+import time
+
+import pytest
+
+from roslibpy import Ros, ActionGoal
+from roslibpy.actionlib import ActionClient
+
+# @pytest.fixture
+# def action_client():
+#     ros = Ros(host="localhost", port=9090)
+#     ros.run()
+
+#     return ActionClient(
+#         ros,
+#         "/fibonacci",
+#         "custom_action_interfaces/action/Fibonacci"
+#     )
+
+
+def feedback_callback(msg):
+    print(f"Action feedback: {msg['partial_sequence']}")
+
+
+def test_action_success():
+
+    ros = Ros(host="localhost", port=9090)
+    ros.run()
+
+    action_client = ActionClient(ros, "/fibonacci", "example_interfaces/action/Fibonacci")
+
+    result = None
+
+    def result_feedback(msg):
+        result = msg
+
+    action_client.send_goal(ActionGoal({"order": 8}), result_feedback, feedback_callback)
+
+    while result is None:
+        time.sleep(1)
+
+    assert result["status"] == "success"
+    assert result["values"]["sequence"][-1] == 21
+
+
+def test_action_cancellation():
+
+    ros = Ros(host="localhost", port=9090)
+    ros.run()
+
+    action_client = ActionClient(ros, "/fibonacci", "example_interfaces/action/Fibonacci")
+
+    result = None
+
+    goal_id = action_client.send_goal(
+        ActionGoal({"order": 8}), None, feedback_callback, lambda msg: print(f"Action failed with message: {msg}")
+    )
+    time.sleep(3)
+    print("Sending action goal cancel request...")
+    action_client.cancel_goal(goal_id)
+
+    while result is None:
+        time.sleep(1)
+
+    assert result["status"] == "cancelled"
+    assert result["values"]