Change test to check for trajectory execution

Author: christophfroehlich

example_7/CMakeLists.txt

@@ -108,7 +108,6 @@ if(BUILD_TESTING)
   ament_add_pytest_test(example_7_urdf_xacro test/test_urdf_xacro.py)
   ament_add_pytest_test(view_example_7_launch test/test_view_robot_launch.py)
   ament_add_pytest_test(run_example_7_launch test/test_r6bot_controller_launch.py)
-  ament_add_pytest_test(test_send_trajectory_launch test/test_send_trajectory_launch.py)
 endif()
 
 ## EXPORTS

example_7/reference_generator/send_trajectory.cpp

@@ -100,6 +100,7 @@ int main(int argc, char ** argv)
   std::fill(last_point_msg.velocities.begin(), last_point_msg.velocities.end(), 0.0);
 
   pub->publish(trajectory_msg);
+  RCLCPP_INFO(node->get_logger(), "Trajectory sent with %lu points", trajectory_msg.points.size());
   while (rclcpp::ok())
   {
   }

example_7/test/test_r6bot_controller_launch.py

@@ -30,6 +30,9 @@
 
 import os
 import pytest
+import psutil
+import subprocess
+import time
 import unittest
 
 from ament_index_python.packages import get_package_share_directory
@@ -39,12 +42,12 @@
 from launch_testing.actions import ReadyToTest
 
 import launch_testing.markers
-import rclpy
 from controller_manager.test_utils import (
     check_controllers_running,
     check_if_js_published,
     check_node_running,
 )
+import rclpy
 
 
 # Executes the given launch file and checks if all nodes can be started
@@ -94,6 +97,30 @@ def test_check_if_msgs_published(self):
             "/joint_states", ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"]
         )
 
+    def test_check_if_trajectory_published(self, proc_output):
+
+        topic = "/r6bot_controller/joint_trajectory"
+
+        command = [
+            "ros2",
+            "launch",
+            "ros2_control_demo_example_7",
+            "send_trajectory.launch.py",
+        ]
+        subprocess.Popen(command)  # the process won't finish
+        time.sleep(1)
+        pubs = self.node.get_publishers_info_by_topic(topic)
+        assert len(pubs) > 0, f"No publisher for topic '{topic}' not found!"
+
+        # message will be published only once, so WaitForTopics is not suitable here.
+        # let's just check if the controller received and processed the message
+        proc_output.assertWaitFor("Trajectory execution complete", timeout=10, stream="stderr")
+
+        for proc in psutil.process_iter():
+            if "send_trajectory" in proc.name():
+                proc.kill()
+                print(f"Process {proc.name()} killed")
+
 
 @launch_testing.post_shutdown_test()
 # These tests are run after the processes in generate_test_description() have shutdown.