The tests in robot_driver.py run, and initialisation is done entirely in conftest and test_common

Author: URJala

ur_robot_driver/test/conftest.py

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+#!/usr/bin/env python3
+# Copyright 2025, Universal Robots A/S
+#
+# 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 the {copyright_holder} 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 HOLDER 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.
+
+from test_common import (
+    interfaces,
+    generate_driver_test_description,
+)
+import pytest
+import launch_pytest
+import logging
+import rclpy.node
+
+# fixture scope for all fixtures
+scope = "function"
+
+
+# Fixtures for use with the integration tests.
+@pytest.fixture(scope=scope, params=["scaled_joint_trajectory_controller"])
+def initial_joint_controller(request):
+    return request.param
+
+
+@pytest.fixture(scope=scope, params=["", "my_ur_"])
+def tf_prefix(request):
+    return request.param
+
+
+@pytest.fixture(scope=scope, params=["false", "true"])
+def mock_hardware(request):
+    return request.param
+
+
+@pytest.fixture(scope=scope, params=[0, 1])
+def params(request):
+    params = [
+        {"tf_prefix": "", "mock_hardware": "false"},
+        {"tf_prefix": "my_ur_", "mock_hardware": "true"},
+    ]
+    return params[request.param]
+
+
+# Could also be passed like this, but that result in each test being executed 4 times, instead of 2, which seems excessive:
+#   @launch_pytest.fixture(scope=scope, autouse=True, auto_shutdown=True)
+#   def launch_description(tf_prefix, mock_hardware):
+#       return generate_driver_test_description(tf_prefix=tf_prefix, mock_hardware=mock_hardware)
+
+
+# This only gives 2 exeecutions of each test
+@launch_pytest.fixture(scope=scope, autouse=True, auto_shutdown=True)
+def launch_description(params):
+    print("-------------LAUNCHING DRIVER -------------------------------")
+    tf_prefix = params["tf_prefix"]
+    mock_hardware = params["mock_hardware"]
+    return generate_driver_test_description(tf_prefix=tf_prefix, mock_hardware=mock_hardware)
+
+
+@pytest.fixture(scope=scope)
+def rclpy_init():
+    """
+    Initializes and finalizes rclpy.
+
+    This ensures that rclpy.init() has been called before, but is not called more than once.
+    """
+    logging.info("Initializing rclpy")
+    rclpy.init()
+
+    yield
+
+    logging.info("Shutting down rclpy")
+    rclpy.shutdown()
+
+
+@pytest.fixture(scope=scope)
+def node(rclpy_init):
+    """
+    Creates a node with a given name.
+
+    The name needs to be passed in as a parameter
+    """
+    logging.info("Creating testing node")
+    rclpy_node = rclpy.node.Node("robot_driver_test")
+
+    yield rclpy_node
+
+    logging.info("Destroying testing node")
+    rclpy_node.destroy_node()
+
+
+@pytest.fixture(scope=scope)
+def robot(node, params):
+    interface = interfaces(node, params)
+    interface.init_interfaces()
+    yield interface

ur_robot_driver/test/pytest.ini

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+[pytest]
+filterwarnings =
+    ignore::DeprecationWarning