Merge pull request #62 from k-okada/add_test

add test to check /smach_viewer/image

Author: k-okada

.github/workflows/config.yml

@@ -105,6 +105,7 @@ jobs:
           mkdir -p ~/ws/src
           cd ~/ws/src
           ln -sf $GITHUB_WORKSPACE .
+          [ ${{ matrix.ROS_DISTRO }} != "one" ] || (sudo apt install -y -qq git; sudo apt remove -y -qq ros-${{ matrix.ROS_DISTRO }}-roseus-smach; git clone https://github.com/jsk-ros-pkg/jsk_roseus.git; )
           rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
         shell: bash
 
@@ -130,6 +131,7 @@ jobs:
           source ~/ws/devel/setup.bash
           set -x
           cd ~/ws/
+          [ ${{ matrix.ROS_DISTRO }} != "one" ] || touch src/jsk_roseus/CATKIN_IGNORE
           catkin test --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
         shell: bash
 

smach_viewer/CMakeLists.txt

@@ -22,8 +22,13 @@ catkin_install_python(
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/test_smach_py.test)
+  add_rostest(test/test_smach_image.test)
   find_package(roseus QUIET)
   if(roseus_FOUND)
     add_rostest(test/test_smach_eus.test)
   endif()
+  find_package(roseus_smach QUIET)
+  if(roseus_smach_FOUND)
+    add_rostest(test/test_roseus_smach_state_machine_ros_sample.test)
+  endif()
 endif()

smach_viewer/test/test_roseus_smach_state_machine_ros_sample.test

@@ -0,0 +1,9 @@
+<launch>
+  <node pkg="smach_viewer"
+        name="smach_viewer" type="smach_viewer.py"
+        output="screen" required="true" />
+  <node pkg="roseus_smach"
+        name="test_smach_eus_exec_smach_simple" type="state-machine-ros-sample.l" args="'(exec-smach-simple)'" />
+  <test test-name="smach_viewer_eus_test"
+        pkg="smach_viewer" type="test_rosout_error.py" name="smach_viewer_eus_test" />
+</launch>

smach_viewer/test/test_smach_image.test

@@ -0,0 +1,15 @@
+<launch>
+  <node pkg="smach_viewer"
+	name="smach_viewer" type="smach_viewer.py"
+	output="screen" />
+  <node pkg="smach_viewer"
+        name="test_smach_py" type="test_smach.py" />
+  <test test-name="smach_viewer_test" pkg="rostest" type="publishtest" name="smach_viewer_test" >
+    <rosparam>
+      topics:
+        - name: /smach_viewer/image
+          timeout: 10
+          negative: False
+    </rosparam>    
+  </test>
+</launch>