[ros2component] Add tests for ros2component

ros2component/package.xml

@@ -24,8 +24,8 @@
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>ament_xmllint</test_depend>
-  <test_depend>composition</test_depend>
   <test_depend>python3-pytest</test_depend>
+  <test_depend>ros2component_fixtures</test_depend>
   <test_depend>ros_testing</test_depend>
 
   <export>

ros2component/test/test_cli_list.py

@@ -51,7 +51,7 @@ def generate_test_description(rmw_implementation, ready_fn):
         package='rclcpp_components', node_executable='component_container', output='screen')
     listener_command_action = ExecuteProcess(
         cmd=['ros2', 'component', 'load', '/ComponentManager',
-             'composition', 'composition::Listener'],
+             'ros2component_fixtures', 'ros2component_fixtures::Listener'],
         additional_env={
             'RMW_IMPLEMENTATION': rmw_implementation,
             'PYTHONUNBUFFERED': '1'
@@ -61,7 +61,7 @@ def generate_test_description(rmw_implementation, ready_fn):
         on_exit=[
             ExecuteProcess(
                 cmd=['ros2', 'component', 'load', '/ComponentManager',
-                     'composition', 'composition::Talker'],
+                     'ros2component_fixtures', 'ros2component_fixtures::Talker'],
                 additional_env={
                     'RMW_IMPLEMENTATION': rmw_implementation,
                     'PYTHONUNBUFFERED': '1'
@@ -71,7 +71,7 @@ def generate_test_description(rmw_implementation, ready_fn):
                 on_exit=[
                     ExecuteProcess(
                         cmd=['ros2', 'component', 'load', '/ComponentManager',
-                             'composition', 'composition::Talker'],
+                             'ros2component_fixtures', 'ros2component_fixtures::Talker'],
                         additional_env={
                             'RMW_IMPLEMENTATION': rmw_implementation,
                             'PYTHONUNBUFFERED': '1'

ros2component/test/test_cli_load.py

@@ -99,7 +99,7 @@ def test_load_verb(self):
         with self.launch_node_command(
                 arguments=[
                     'load', '/ComponentManager',
-                    'composition', 'composition::Talker']) as talker_node:
+                    'ros2component_fixtures', 'ros2component_fixtures::Talker']) as talker_node:
             assert talker_node.wait_for_shutdown(timeout=20)
         assert talker_node.exit_code == launch_testing.asserts.EXIT_OK
         assert launch_testing.tools.expect_output(
@@ -112,7 +112,8 @@ def test_load_verb(self):
         with self.launch_node_command(
                 arguments=[
                     'load', '/ComponentManager',
-                    'composition', 'composition::Listener']) as listener_node:
+                    'ros2component_fixtures',
+                    'ros2component_fixtures::Listener']) as listener_node:
             assert listener_node.wait_for_shutdown(timeout=20)
         assert listener_node.exit_code == launch_testing.asserts.EXIT_OK
         assert launch_testing.tools.expect_output(
@@ -136,7 +137,7 @@ def test_load_verb(self):
         with self.launch_node_command(
                 arguments=[
                     'load', '/ComponentManager',
-                    'composition', 'composition::Talker']) as talker_node:
+                    'ros2component_fixtures', 'ros2component_fixtures::Talker']) as talker_node:
             assert talker_node.wait_for_shutdown(timeout=20)
         assert talker_node.exit_code == launch_testing.asserts.EXIT_OK
         assert launch_testing.tools.expect_output(
@@ -150,7 +151,7 @@ def test_load_verb(self):
         with self.launch_node_command(
                 arguments=[
                     'load', '/ComponentManager',
-                    'composition', 'composition::Talker']) as talker_node:
+                    'ros2component_fixtures', 'ros2component_fixtures::Talker']) as talker_node:
             assert talker_node.wait_for_shutdown(timeout=20)
         assert talker_node.exit_code == launch_testing.asserts.EXIT_OK
         assert launch_testing.tools.expect_output(
@@ -166,7 +167,8 @@ def test_load_verb_nonexistent_class(self):
         with self.launch_node_command(
                 arguments=[
                     'load', '/ComponentManager',
-                    'composition', 'composition::NonExistingPlugin']) as command:
+                    'ros2component_fixtures',
+                    'ros2component_fixtures::NonExistingPlugin']) as command:
             assert command.wait_for_shutdown(timeout=20)
         assert command.exit_code == 1
         assert launch_testing.tools.expect_output(

ros2component/test/test_cli_types.py

@@ -32,12 +32,9 @@
 from rmw_implementation import get_available_rmw_implementations
 
 DEMO_NODES_TYPES = """\
-composition
-  composition::Talker
-  composition::Listener
-  composition::NodeLikeListener
-  composition::Server
-  composition::Client
+ros2component_fixtures
+  ros2component_fixtures::Talker
+  ros2component_fixtures::Listener
 """
 
 

ros2component/test/test_cli_unload.py

@@ -49,7 +49,7 @@ def generate_test_description(rmw_implementation, ready_fn):
         package='rclcpp_components', node_executable='component_container', output='screen')
     listener_command_action = ExecuteProcess(
         cmd=['ros2', 'component', 'load', '/ComponentManager',
-             'composition', 'composition::Listener'],
+             'ros2component_fixtures', 'ros2component_fixtures::Listener'],
         additional_env={
             'RMW_IMPLEMENTATION': rmw_implementation,
             'PYTHONUNBUFFERED': '1'
@@ -59,7 +59,7 @@ def generate_test_description(rmw_implementation, ready_fn):
         on_exit=[
             ExecuteProcess(
                 cmd=['ros2', 'component', 'load', '/ComponentManager',
-                     'composition', 'composition::Talker'],
+                     'ros2component_fixtures', 'ros2component_fixtures::Talker'],
                 additional_env={
                     'RMW_IMPLEMENTATION': rmw_implementation,
                     'PYTHONUNBUFFERED': '1'
@@ -69,7 +69,7 @@ def generate_test_description(rmw_implementation, ready_fn):
                 on_exit=[
                     ExecuteProcess(
                         cmd=['ros2', 'component', 'load', '/ComponentManager',
-                             'composition', 'composition::Talker'],
+                             'ros2component_fixtures', 'ros2component_fixtures::Talker'],
                         additional_env={
                             'RMW_IMPLEMENTATION': rmw_implementation,
                             'PYTHONUNBUFFERED': '1'

ros2component_fixtures/CMakeLists.txt

@@ -0,0 +1,60 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(ros2component_fixtures)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+
+include_directories(include)
+
+# create ament index resource which references the libraries in the binary dir
+set(node_plugins "")
+
+add_library(talker_component SHARED
+  src/talker_component.cpp)
+target_compile_definitions(talker_component
+  PRIVATE "ROS2COMPONENT_FIXTURES_BUILDING_DLL")
+ament_target_dependencies(talker_component
+  "rclcpp"
+  "rclcpp_components"
+  "std_msgs")
+rclcpp_components_register_nodes(talker_component "ros2component_fixtures::Talker")
+set(node_plugins "${node_plugins}ros2component_fixtures::Talker;$<TARGET_FILE:talker_component>\n")
+
+add_library(listener_component SHARED
+  src/listener_component.cpp)
+target_compile_definitions(listener_component
+  PRIVATE "ROS2COMPONENT_FIXTURES_BUILDING_DLL")
+ament_target_dependencies(listener_component
+  "rclcpp"
+  "rclcpp_components"
+  "std_msgs")
+rclcpp_components_register_nodes(listener_component "ros2component_fixtures::Listener")
+set(node_plugins "${node_plugins}ros2component_fixtures::Listener;$<TARGET_FILE:listener_component>\n")
+
+# since the package installs libraries without exporting them
+# it needs to make sure that the library path is being exported
+if(NOT WIN32)
+  ament_environment_hooks(
+    "${ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH}")
+endif()
+
+install(TARGETS
+  talker_component
+  listener_component
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+ament_package()

ros2component_fixtures/include/ros2component_fixtures/listener_component.hpp

@@ -0,0 +1,37 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROS2COMPONENT_FIXTURES__LISTENER_COMPONENT_HPP_
+#define ROS2COMPONENT_FIXTURES__LISTENER_COMPONENT_HPP_
+
+#include "ros2component_fixtures/visibility_control.h"
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+namespace ros2component_fixtures
+{
+
+class Listener : public rclcpp::Node
+{
+public:
+  ROS2COMPONENT_FIXTURES_PUBLIC
+  explicit Listener(const rclcpp::NodeOptions & options);
+
+private:
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
+};
+
+}  // namespace ros2component_fixtures
+
+#endif  // ROS2COMPONENT_FIXTURES__LISTENER_COMPONENT_HPP_

ros2component_fixtures/include/ros2component_fixtures/talker_component.hpp

@@ -0,0 +1,42 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROS2COMPONENT_FIXTURES__TALKER_COMPONENT_HPP_
+#define ROS2COMPONENT_FIXTURES__TALKER_COMPONENT_HPP_
+
+#include "ros2component_fixtures/visibility_control.h"
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+namespace ros2component_fixtures
+{
+
+class Talker : public rclcpp::Node
+{
+public:
+  ROS2COMPONENT_FIXTURES_PUBLIC
+  explicit Talker(const rclcpp::NodeOptions & options);
+
+protected:
+  void on_timer();
+
+private:
+  size_t count_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
+  rclcpp::TimerBase::SharedPtr timer_;
+};
+
+}  // namespace ros2component_fixtures
+
+#endif  // ROS2COMPONENT_FIXTURES__TALKER_COMPONENT_HPP_

ros2component_fixtures/include/ros2component_fixtures/visibility_control.h

@@ -0,0 +1,58 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROS2COMPONENT_FIXTURES__VISIBILITY_CONTROL_H_
+#define ROS2COMPONENT_FIXTURES__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROS2COMPONENT_FIXTURES_EXPORT __attribute__ ((dllexport))
+    #define ROS2COMPONENT_FIXTURES_IMPORT __attribute__ ((dllimport))
+  #else
+    #define ROS2COMPONENT_FIXTURES_EXPORT __declspec(dllexport)
+    #define ROS2COMPONENT_FIXTURES_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef ROS2COMPONENT_FIXTURES_BUILDING_DLL
+    #define ROS2COMPONENT_FIXTURES_PUBLIC ROS2COMPONENT_FIXTURES_EXPORT
+  #else
+    #define ROS2COMPONENT_FIXTURES_PUBLIC ROS2COMPONENT_FIXTURES_IMPORT
+  #endif
+  #define ROS2COMPONENT_FIXTURES_PUBLIC_TYPE ROS2COMPONENT_FIXTURES_PUBLIC
+  #define ROS2COMPONENT_FIXTURES_LOCAL
+#else
+  #define ROS2COMPONENT_FIXTURES_EXPORT __attribute__ ((visibility("default")))
+  #define ROS2COMPONENT_FIXTURES_IMPORT
+  #if __GNUC__ >= 4
+    #define ROS2COMPONENT_FIXTURES_PUBLIC __attribute__ ((visibility("default")))
+    #define ROS2COMPONENT_FIXTURES_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define ROS2COMPONENT_FIXTURES_PUBLIC
+    #define ROS2COMPONENT_FIXTURES_LOCAL
+  #endif
+  #define ROS2COMPONENT_FIXTURES_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ROS2COMPONENT_FIXTURES__VISIBILITY_CONTROL_H_

ros2component_fixtures/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros2component_fixtures</name>
+  <version>0.1.0</version>
+  <description>Examples for ros2component cli</description>
+  <maintainer email="[email protected]">Dirk Thomas</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rclcpp</build_depend>
+  <build_depend>rclcpp_components</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>