Merge branch 'master' into diffdrive_pid_chaining_2

Author: christophfroehlich

example_1/test/test_rrbot_launch_cli_direct.py

@@ -39,7 +39,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
 
-# import launch_testing.markers
+import launch_testing.markers
 import rclpy
 from controller_manager.test_utils import check_controllers_running
 
@@ -109,11 +109,10 @@ def test_main(self, proc_output):
         check_controllers_running(self.node, [cname], state="active")
 
 
-# TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
-# @launch_testing.post_shutdown_test()
-# # These tests are run after the processes in generate_test_description() have shutdown.
-# class TestDescriptionCraneShutdown(unittest.TestCase):
+@launch_testing.post_shutdown_test()
+# These tests are run after the processes in generate_test_description() have shutdown.
+class TestDescriptionCraneShutdown(unittest.TestCase):
 
-#     def test_exit_codes(self, proc_info):
-#         """Check if the processes exited normally."""
-#         launch_testing.asserts.assertExitCodes(proc_info)
+    def test_exit_codes(self, proc_info):
+        """Check if the processes exited normally."""
+        launch_testing.asserts.assertExitCodes(proc_info)

example_11/test/test_carlikebot_launch_remapped.py

@@ -39,7 +39,7 @@
 from launch_testing.actions import ReadyToTest
 from launch_testing_ros import WaitForTopics
 
-# import launch_testing.markers
+import launch_testing.markers
 import rclpy
 from controller_manager.test_utils import (
     check_controllers_running,
@@ -110,11 +110,10 @@ def test_remapped_topic(self):
         wait_for_topics.shutdown()
 
 
-# TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
-# @launch_testing.post_shutdown_test()
-# # These tests are run after the processes in generate_test_description() have shutdown.
-# class TestDescriptionCraneShutdown(unittest.TestCase):
+@launch_testing.post_shutdown_test()
+# These tests are run after the processes in generate_test_description() have shutdown.
+class TestDescriptionCraneShutdown(unittest.TestCase):
 
-#     def test_exit_codes(self, proc_info):
-#         """Check if the processes exited normally."""
-#         launch_testing.asserts.assertExitCodes(proc_info)
+    def test_exit_codes(self, proc_info):
+        """Check if the processes exited normally."""
+        launch_testing.asserts.assertExitCodes(proc_info)

example_13/CMakeLists.txt

@@ -39,7 +39,6 @@ if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
 
   ament_add_pytest_test(example_13_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_13_launch test/test_view_robot_launch.py)
 
   function(add_ros_isolated_launch_test path)
     set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")

example_13/test/test_three_robots_launch.py

@@ -56,7 +56,7 @@ def generate_test_description():
                 "launch/three_robots.launch.py",
             )
         ),
-        launch_arguments={"gui": "false"}.items(),
+        launch_arguments={"gui": "false", "sigterm_timeout": "10"}.items(),
     )
 
     return LaunchDescription([launch_include, ReadyToTest()])

example_13/test/test_view_robot_launch.py

@@ -97,7 +97,7 @@ def test_check_if_msgs_published(self):
 
 
 # TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
-# see https://github.com/ros-controls/ros2_control_demos/issues/542
+# see https://github.com/ros-controls/ros2_control_demos/issues/721
 # @launch_testing.post_shutdown_test()
 # # These tests are run after the processes in generate_test_description() have shutdown.
 # class TestDescriptionCraneShutdown(unittest.TestCase):