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Felix Exner
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Add Moveit startup test
This is a basic test that verifies that all Nodes come up correctly without crashing.
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‎ur_moveit_config/CMakeLists.txt‎

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@@ -13,3 +13,15 @@ ament_python_install_package(${PROJECT_NAME})
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ament_python_install_module(${PROJECT_NAME}/launch_common.py)
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ament_package()
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if(BUILD_TESTING)
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find_package(ur_robot_driver REQUIRED)
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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/startup_test.py
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TIMEOUT
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180
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)
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endif()
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endif()

‎ur_moveit_config/package.xml‎

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@@ -32,6 +32,9 @@
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<exec_depend>warehouse_ros_sqlite</exec_depend>
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<exec_depend>xacro</exec_depend>
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<test_depend>launch_testing_ament_cmake</test_depend>
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<test_depend>ur_robot_driver</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>

‎ur_moveit_config/test/startup_test.py‎

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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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import pytest
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import unittest
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from launch import LaunchDescription
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import launch_testing
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from launch_testing.actions import ReadyToTest
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch.actions import (
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DeclareLaunchArgument,
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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.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.substitutions import FindPackagePrefix, FindPackageShare
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from launch.event_handlers import OnProcessExit
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TIMEOUT_WAIT_SERVICE_INITIAL = 120 # If we download the docker image simultaneously to the tests, it can take quite some time until the dashboard server is reachable and usable.
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@pytest.mark.launch_test
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def generate_test_description():
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controller_spawner_timeout = TIMEOUT_WAIT_SERVICE_INITIAL
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"ur_type",
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default_value="ur5e",
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description="Type/series of used UR robot.",
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choices=[
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"ur3",
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"ur3e",
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"ur5",
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"ur5e",
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"ur10",
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"ur10e",
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"ur16e",
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"ur20",
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"ur30",
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],
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)
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)
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ur_type = LaunchConfiguration("ur_type")
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robot_driver = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[FindPackageShare("ur_robot_driver"), "launch", "ur_control.launch.py"]
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)
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),
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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(controller_spawner_timeout),
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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": "false",
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"start_joint_controller": "false",
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}.items(),
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)
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wait_dashboard_server = ExecuteProcess(
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cmd=[
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PathJoinSubstitution(
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[
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FindPackagePrefix("ur_robot_driver"),
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"bin",
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"wait_dashboard_server.sh",
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]
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)
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],
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name="wait_dashboard_server",
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output="screen",
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)
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driver_starter = RegisterEventHandler(
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OnProcessExit(target_action=wait_dashboard_server, on_exit=robot_driver)
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)
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moveit_setup = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[FindPackageShare("ur_moveit_config"), "launch", "ur_moveit.launch.py"]
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)
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),
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launch_arguments={
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"ur_type": ur_type,
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"launch_rviz": "false",
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}.items(),
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)
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return LaunchDescription(
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declared_arguments
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+ [ReadyToTest(), wait_dashboard_server, _ursim_action(), driver_starter, moveit_setup]
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)
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def _ursim_action():
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ur_type = LaunchConfiguration("ur_type")
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return ExecuteProcess(
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cmd=[
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PathJoinSubstitution(
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[
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FindPackagePrefix("ur_client_library"),
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"lib",
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"ur_client_library",
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"start_ursim.sh",
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]
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),
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" ",
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"-m ",
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ur_type,
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],
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name="start_ursim",
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output="screen",
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)
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class TestReadyForPlanning(unittest.TestCase):
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def test_read_stdout(self, proc_output):
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"""Check if 'You can start planning now!' was found in the stdout."""
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proc_output.assertWaitFor("You can start planning now!", timeout=120, stream="stdout")
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@launch_testing.post_shutdown_test()
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class TestProcessExitCode(unittest.TestCase):
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def test_exit_code(self, proc_info):
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launch_testing.asserts.assertExitCodes(proc_info)

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