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Fix passing launch_dashobard_client launch argument (backport of #1057)
* Fix passing launch_dashobard_client launch argument This was not handled properly * Do start dashboard_client in driver_test * Add test for checking launch_dashboard_client argument
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4 files changed

+177
-13
lines changed

4 files changed

+177
-13
lines changed

‎ur_robot_driver/CMakeLists.txt‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -180,6 +180,10 @@ if(BUILD_TESTING)
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find_package(launch_testing_ament_cmake)
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if(${UR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS})
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add_launch_test(test/launch_args.py
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TIMEOUT
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180
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)
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add_launch_test(test/dashboard_client.py
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TIMEOUT
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‎ur_robot_driver/launch/ur_control.launch.py‎

Lines changed: 11 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -36,7 +36,14 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.conditions import IfCondition, UnlessCondition
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch.substitutions import (
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AndSubstitution,
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Command,
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FindExecutable,
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LaunchConfiguration,
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NotSubstitution,
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PathJoinSubstitution,
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)
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4148

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def launch_setup(context, *args, **kwargs):
@@ -238,7 +245,9 @@ def launch_setup(context, *args, **kwargs):
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dashboard_client_node = Node(
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package="ur_robot_driver",
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condition=IfCondition(launch_dashboard_client) and UnlessCondition(use_fake_hardware),
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condition=IfCondition(
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AndSubstitution(launch_dashboard_client, NotSubstitution(use_fake_hardware))
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),
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executable="dashboard_client",
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name="dashboard_client",
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output="screen",

‎ur_robot_driver/test/launch_args.py‎

Lines changed: 148 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,148 @@
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#!/usr/bin/env python
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# Copyright 2024, FZI Forschungszentrum Informatik
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the {copyright_holder} nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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30+
import logging
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import os
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import pytest
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import sys
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import time
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import unittest
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37+
import rclpy
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from rclpy.node import Node
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40+
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from launch import LaunchDescription
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from launch.actions import (
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ExecuteProcess,
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IncludeLaunchDescription,
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RegisterEventHandler,
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)
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from launch.event_handlers import OnProcessExit
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.substitutions import FindPackagePrefix, FindPackageShare
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import launch_testing
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from launch_testing.actions import ReadyToTest
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sys.path.append(os.path.dirname(__file__))
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from test_common import ( # noqa: E402
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ControllerManagerInterface,
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_declare_launch_arguments,
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_ursim_action,
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)
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62+
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@pytest.mark.launch_test
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@launch_testing.parametrize(
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"launch_dashboard_client",
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[("true"), ("false")],
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)
68+
def generate_test_description(launch_dashboard_client):
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ur_type = LaunchConfiguration("ur_type")
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launch_arguments = {
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"robot_ip": "192.168.56.101",
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"ur_type": ur_type,
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"launch_rviz": "false",
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"controller_spawner_timeout": str(120),
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"initial_joint_controller": "scaled_joint_trajectory_controller",
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"headless_mode": "true",
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"launch_dashboard_client": launch_dashboard_client,
78+
"start_joint_controller": "false",
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}
80+
81+
robot_driver = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
84+
[FindPackageShare("ur_robot_driver"), "launch", "ur_control.launch.py"]
85+
)
86+
),
87+
launch_arguments=launch_arguments.items(),
88+
)
89+
wait_dashboard_server = ExecuteProcess(
90+
cmd=[
91+
PathJoinSubstitution(
92+
[
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FindPackagePrefix("ur_robot_driver"),
94+
"bin",
95+
"wait_dashboard_server.sh",
96+
]
97+
)
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],
99+
name="wait_dashboard_server",
100+
output="screen",
101+
)
102+
driver_starter = RegisterEventHandler(
103+
OnProcessExit(target_action=wait_dashboard_server, on_exit=robot_driver)
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)
105+
106+
return LaunchDescription(
107+
_declare_launch_arguments()
108+
+ [ReadyToTest(), wait_dashboard_server, _ursim_action(), driver_starter]
109+
)
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111+
112+
class DashboardClientTest(unittest.TestCase):
113+
@classmethod
114+
def setUpClass(cls):
115+
# Initialize the ROS context
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rclpy.init()
117+
cls.node = Node("robot_driver_launch_test")
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time.sleep(1)
119+
cls.init_robot(cls)
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121+
@classmethod
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def tearDownClass(cls):
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# Shutdown the ROS context
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cls.node.destroy_node()
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rclpy.shutdown()
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def init_robot(self):
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# This waits for the controller_manager to be available
129+
self._controller_manager_interface = ControllerManagerInterface(self.node)
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131+
def setUp(self):
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pass
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134+
def test_dashboard_client_exists(self, launch_dashboard_client):
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# Use the get_node_names_and_namespaces() method to get the list of nodes and their namespaces
136+
nodes_with_ns = self.node.get_node_names_and_namespaces()
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138+
nodes = [namespace + name for (name, namespace) in nodes_with_ns]
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140+
for node in nodes:
141+
print(node)
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143+
# Print out the nodes and their namespaces
144+
logging.info("Discovered ROS nodes:")
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if launch_dashboard_client == "true":
146+
self.assertIn("/dashboard_client", nodes)
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else:
148+
self.assertNotIn("/dashboard_client", nodes)

‎ur_robot_driver/test/test_common.py‎

Lines changed: 14 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -307,23 +307,26 @@ def generate_driver_test_description(
307307
):
308308
ur_type = LaunchConfiguration("ur_type")
309309

310+
launch_arguments = {
311+
"robot_ip": "192.168.56.101",
312+
"ur_type": ur_type,
313+
"launch_rviz": "false",
314+
"controller_spawner_timeout": str(controller_spawner_timeout),
315+
"initial_joint_controller": "scaled_joint_trajectory_controller",
316+
"headless_mode": "true",
317+
"launch_dashboard_client": "true",
318+
"start_joint_controller": "false",
319+
}
320+
if tf_prefix:
321+
launch_arguments["tf_prefix"] = tf_prefix
322+
310323
robot_driver = IncludeLaunchDescription(
311324
PythonLaunchDescriptionSource(
312325
PathJoinSubstitution(
313326
[FindPackageShare("ur_robot_driver"), "launch", "ur_control.launch.py"]
314327
)
315328
),
316-
launch_arguments={
317-
"robot_ip": "192.168.56.101",
318-
"ur_type": ur_type,
319-
"launch_rviz": "false",
320-
"controller_spawner_timeout": str(controller_spawner_timeout),
321-
"initial_joint_controller": "scaled_joint_trajectory_controller",
322-
"headless_mode": "true",
323-
"launch_dashboard_client": "false",
324-
"start_joint_controller": "false",
325-
"tf_prefix": tf_prefix,
326-
}.items(),
329+
launch_arguments=launch_arguments.items(),
327330
)
328331
wait_dashboard_server = ExecuteProcess(
329332
cmd=[

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