Activate assert exit codes (#548)

example_1/test/test_rrbot_launch.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,
@@ -146,11 +146,10 @@ 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_10/test/test_rrbot_launch.py

@@ -38,6 +38,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
 
+import launch_testing.markers
 import rclpy
 from controller_manager.test_utils import (
     check_controllers_running,
@@ -94,11 +95,10 @@ def test_check_if_msgs_published(self):
         check_if_js_published("/joint_states", ["joint1", "joint2"])
 
 
-# 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.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,
@@ -109,11 +109,10 @@ 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_12/test/test_rrbot_launch.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,
@@ -143,11 +143,10 @@ def test_check_if_msgs_published(self):
         check_if_js_published("/joint_states", ["joint1", "joint2"])
 
 
-# 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/test/test_three_robots_launch.py

@@ -38,7 +38,7 @@
 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,
@@ -342,11 +342,10 @@ def test_behavior(self, proc_output):
         )
 
 
-# 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_14/test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py

@@ -97,6 +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
 # @launch_testing.post_shutdown_test()
 # # These tests are run after the processes in generate_test_description() have shutdown.
 # class TestDescriptionCraneShutdown(unittest.TestCase):

example_15/test/test_multi_controller_manager_launch.py

@@ -38,7 +38,7 @@
 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,
@@ -97,11 +97,10 @@ def test_check_if_msgs_published(self):
         check_if_js_published("/rrbot_2/joint_states", ["rrbot_2_joint1", "rrbot_2_joint2"])
 
 
-# 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_15/test/test_rrbot_namespace_launch.py

@@ -38,7 +38,7 @@
 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,
@@ -96,11 +96,10 @@ def test_check_if_msgs_published(self):
         check_if_js_published("/rrbot/joint_states", ["joint1", "joint2"])
 
 
-# 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_2/test/test_diffbot_launch.py

@@ -38,7 +38,7 @@
 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,
@@ -93,11 +93,10 @@ def test_check_if_msgs_published(self):
         check_if_js_published("/joint_states", ["left_wheel_joint", "right_wheel_joint"])
 
 
-# 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_3/test/test_rrbot_system_multi_interface_launch.py

@@ -38,7 +38,7 @@
 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,
@@ -93,11 +93,10 @@ def test_check_if_msgs_published(self):
         check_if_js_published("/joint_states", ["joint1", "joint2"])
 
 
-# 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_4/test/test_rrbot_system_with_sensor_launch.py

@@ -38,7 +38,7 @@
 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,
@@ -93,11 +93,10 @@ def test_check_if_msgs_published(self):
         check_if_js_published("/joint_states", ["joint1", "joint2"])
 
 
-# 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_5/test/test_rrbot_system_with_external_sensor_launch.py

@@ -38,7 +38,7 @@
 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,
@@ -93,11 +93,10 @@ def test_check_if_msgs_published(self):
         check_if_js_published("/joint_states", ["joint1", "joint2"])
 
 
-# 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_6/test/test_rrbot_modular_actuators_launch.py

@@ -38,7 +38,7 @@
 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,
@@ -93,11 +93,10 @@ def test_check_if_msgs_published(self):
         check_if_js_published("/joint_states", ["joint1", "joint2"])
 
 
-# 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_7/test/test_r6bot_controller_launch.py

@@ -38,7 +38,7 @@
 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,
@@ -95,11 +95,10 @@ def test_check_if_msgs_published(self):
         )
 
 
-# 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_8/test/test_rrbot_transmissions_system_position_only_launch.py

@@ -38,7 +38,7 @@
 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,
@@ -93,11 +93,10 @@ def test_check_if_msgs_published(self):
         check_if_js_published("/joint_states", ["joint1", "joint2"])
 
 
-# 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)