Minor fix in launch test system_test (#81)

* Give systems in launch tests some time to converge
* Cleanup

Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]>

Author: norro

system_modes/test/launchtest/manager_and_monitor.launch.py.in

@@ -71,6 +71,3 @@ class TestModeManagement(unittest.TestCase):
             output_filter=output_filter,
             timeout=15,
             stream='stdout')
-
-        import time
-        time.sleep(1)

system_modes/test/launchtest/modes_observer.launch.py.in

@@ -64,6 +64,3 @@ class TestModeManagement(unittest.TestCase):
             output_filter=output_filter,
             timeout=15,
             stream='stdout')
-
-        import time
-        time.sleep(1)

system_modes/test/launchtest/redundant_mode_changes.launch.py.in

@@ -67,12 +67,3 @@ class TestModeManagement(unittest.TestCase):
             output_filter=output_filter,
             timeout=15
         )
-
-        import time
-        time.sleep(1)
-
-@launch_testing.post_shutdown_test()
-class TestModeManagementShutdown(unittest.TestCase):
-
-    def test_last_process_exit_code(self, proc_info, test_nodes):
-        launch_testing.asserts.assertExitCodes(proc_info, process=test_nodes)

system_modes/test/launchtest/two_independent_hierarchies.launch.py.in

@@ -67,12 +67,3 @@ class TestModeManagement(unittest.TestCase):
             output_filter=output_filter,
             timeout=15
         )
-
-        import time
-        time.sleep(1)
-
-@launch_testing.post_shutdown_test()
-class TestModeManagementShutdown(unittest.TestCase):
-
-    def test_last_process_exit_code(self, proc_info, test_nodes):
-        launch_testing.asserts.assertExitCodes(proc_info, process=test_nodes)

system_modes/test/launchtest/two_lifecycle_nodes.launch.py.in

@@ -67,12 +67,3 @@ class TestModeManagement(unittest.TestCase):
             output_filter=output_filter,
             timeout=15
         )
-
-        import time
-        time.sleep(1)
-
-@launch_testing.post_shutdown_test()
-class TestModeManagementShutdown(unittest.TestCase):
-
-    def test_last_process_exit_code(self, proc_info, test_nodes):
-        launch_testing.asserts.assertExitCodes(proc_info, process=test_nodes)

system_modes/test/launchtest/two_mixed_nodes.launch.py.in

@@ -67,12 +67,3 @@ class TestModeManagement(unittest.TestCase):
             output_filter=output_filter,
             timeout=15
         )
-
-        import time
-        time.sleep(1)
-
-@launch_testing.post_shutdown_test()
-class TestModeManagementShutdown(unittest.TestCase):
-
-    def test_last_process_exit_code(self, proc_info, test_nodes):
-        launch_testing.asserts.assertExitCodes(proc_info, process=test_nodes)

test_launch_system_modes/CMakeLists.txt

@@ -1,27 +1,11 @@
 cmake_minimum_required(VERSION 3.5)
 project(test_launch_system_modes)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# 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 dependencies
 find_package(ament_cmake REQUIRED)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  find_package(ament_cmake_gtest REQUIRED)
-  find_package(ament_cmake_gmock REQUIRED)
   # the following line skips the linter which checks for copyrights
   # remove the line when a copyright and license is present in all source files
   set(ament_cmake_copyright_FOUND TRUE)

test_launch_system_modes/package.xml

@@ -25,13 +25,8 @@
   <depend>system_modes_msgs</depend>
   <depend>system_modes_examples</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_pep257</test_depend>
   <test_depend>ament_cmake_flake8</test_depend>
-  <test_depend>ament_cmake_cpplint</test_depend>
-  <test_depend>ament_cmake_cppcheck</test_depend>
-  <test_depend>ament_cmake_uncrustify</test_depend>
   <test_depend>ament_index_python</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>

test_launch_system_modes/test/node_test.launch.py.in

@@ -38,17 +38,22 @@ def generate_test_description():
         ])
 
     drive_base = launch_system_modes.actions.Node(
-            package='system_modes_examples',
-            executable='drive_base',
-            name='drive_base',
-            namespace='',
-            output='screen')
+        package='system_modes_examples',
+        executable='drive_base',
+        name='drive_base',
+        namespace='',
+        output='screen')
 
     # Startup
-    drive_base_configure = launch.actions.EmitEvent(
-        event=launch_ros.events.lifecycle.ChangeState(
-            lifecycle_node_matcher=launch.events.matchers.matches_action(drive_base),
-            transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE))
+    drive_base_configure = launch.actions.TimerAction(
+        period=2.,
+        actions=[
+            launch.actions.EmitEvent(
+                event=launch_ros.events.lifecycle.ChangeState(
+                    lifecycle_node_matcher=launch.events.matchers.matches_action(drive_base),
+                    transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE))
+        ]
+    )
 
     drive_base_activate = launch.actions.EmitEvent(
         event=launch_ros.events.lifecycle.ChangeState(
@@ -88,13 +93,13 @@ def generate_test_description():
             entities=[drive_base_change_mode_to_FAST]))
 
     launch_description = LaunchDescription()
+    launch_description.add_action(mode_manager)
+    launch_description.add_action(drive_base)
     launch_description.add_action(on_inactive_handler)
     launch_description.add_action(on_active_handler)
     launch_description.add_action(on_DEFAULT_mode)
-    launch_description.add_action(mode_manager)
     launch_description.add_action(launch_testing.util.KeepAliveProc())
     launch_description.add_action(launch_testing.actions.ReadyToTest())
-    launch_description.add_action(drive_base)
     launch_description.add_action(drive_base_configure)
 
     return launch_description, locals()
@@ -116,9 +121,6 @@ class TestModeManagement(unittest.TestCase):
             timeout=15
         )
 
-        import time
-        time.sleep(1)
-
 @launch_testing.post_shutdown_test()
 class TestModeManagementShutdown(unittest.TestCase):
 

test_launch_system_modes/test/system_test.launch.py.in

@@ -56,10 +56,14 @@ def generate_test_description():
             output='screen')
 
     # Startup
-    actuation_configure = launch.actions.EmitEvent(
-        event=launch_system_modes.events.ChangeState(
-            system_part_matcher=launch.events.matchers.matches_action(actuation),
-            transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE))
+    actuation_configure = launch.actions.TimerAction(
+        period=2.,
+        actions=[launch.actions.EmitEvent(
+            event=launch_system_modes.events.ChangeState(
+                system_part_matcher=launch.events.matchers.matches_action(actuation),
+                transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE))
+        ]
+    )
 
     actuation_activate = launch.actions.EmitEvent(
         event=launch_system_modes.events.ChangeState(
@@ -99,15 +103,15 @@ def generate_test_description():
             entities=[actuation_change_mode_to_FAST]))
 
     launch_description = LaunchDescription()
-    launch_description.add_action(launch_testing.util.KeepAliveProc())
-    launch_description.add_action(launch_testing.actions.ReadyToTest())
     launch_description.add_action(mode_manager)
     launch_description.add_action(actuation)
     launch_description.add_action(drive_base)
     launch_description.add_action(manipulator)
     launch_description.add_action(on_inactive_handler)
     launch_description.add_action(on_active_handler)
     launch_description.add_action(on_DEFAULT_mode)
+    launch_description.add_action(launch_testing.util.KeepAliveProc())
+    launch_description.add_action(launch_testing.actions.ReadyToTest())
     launch_description.add_action(actuation_configure)
 
     return launch_description, locals()
@@ -129,9 +133,6 @@ class TestModeManagement(unittest.TestCase):
             timeout=15
         )
 
-        import time
-        time.sleep(1)
-
 @launch_testing.post_shutdown_test()
 class TestModeManagementShutdown(unittest.TestCase):