Migrate launch tests to new launch_testing features & API

CMakeLists.txt

@@ -220,22 +220,38 @@ endif()
 
 macro(targets)
   configure_file(
-    test/test_dynamic_bridge.py.in
-    test_dynamic_bridge${target_suffix}.py.genexp
+    test/test_topics_across_dynamic_bridge.py.in
+    test_topics_across_dynamic_bridge${target_suffix}.py.genexp
     @ONLY
   )
   file(GENERATE
-    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_dynamic_bridge${target_suffix}_$<CONFIG>.py"
-    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_dynamic_bridge${target_suffix}.py.genexp"
+    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
+    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}.py.genexp"
   )
-  ament_add_pytest_test(test_dynamic_bridge${target_suffix}
-    "${CMAKE_CURRENT_BINARY_DIR}/test_dynamic_bridge${target_suffix}_$<CONFIG>.py"
+  add_launch_test(
+    "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
+    TARGET test_topics_across_dynamic_bridge${target_suffix}
+    ENV RMW_IMPLEMENTAION=${rmw_implementaion}
+    TIMEOUT 60)
+
+  configure_file(
+    test/test_services_across_dynamic_bridge.py.in
+    test_services_across_dynamic_bridge${target_suffix}.py.genexp
+    @ONLY
+  )
+  file(GENERATE
+    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
+    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}.py.genexp"
+  )
+  add_launch_test(
+    "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
+    TARGET test_services_across_dynamic_bridge${target_suffix}
     ENV RMW_IMPLEMENTAION=${rmw_implementaion}
     TIMEOUT 60)
 endmacro()
 
 if(TEST_ROS1_BRIDGE)
-  find_package(ament_cmake_pytest REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
 
   add_executable(test_ros1_client "test/test_ros1_client.cpp")
   ament_target_dependencies(test_ros1_client "ros1_roscpp")

package.xml

@@ -29,13 +29,14 @@
   <exec_depend>rcutils</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>
   <test_depend>demo_nodes_cpp</test_depend>
   <test_depend>diagnostic_msgs</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
   <test_depend>ros2run</test_depend>
 
   <group_depend>rosidl_interface_packages</group_depend>

test/test_services_across_dynamic_bridge.py.in

@@ -0,0 +1,87 @@
+# Copyright 2016 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.
+
+import unittest
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+from launch.actions import OpaqueFunction
+
+import launch_testing
+
+
+TEST_BRIDGE_ROS1_ENV = '@TEST_BRIDGE_ROS1_ENV@'
+TEST_BRIDGE_ROSCORE = '@TEST_BRIDGE_ROSCORE@'
+TEST_BRIDGE_ROS1_CLIENT = '@TEST_BRIDGE_ROS1_CLIENT@'
+TEST_BRIDGE_ROS1_SERVER = '@TEST_BRIDGE_ROS1_SERVER@'
+TEST_BRIDGE_DYNAMIC_BRIDGE = '@TEST_BRIDGE_DYNAMIC_BRIDGE@'
+TEST_BRIDGE_ROS2_CLIENT = '@TEST_BRIDGE_ROS2_CLIENT@'
+TEST_BRIDGE_ROS2_SERVER = '@TEST_BRIDGE_ROS2_SERVER@'
+
+
+@launch_testing.parametrize('test_name,server_cmd,client_cmd', [
+    ('ros1_server_ros2_client_across_dynamic_bridge',
+     [TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_ROS1_SERVER],
+     [TEST_BRIDGE_ROS2_CLIENT]),
+    ('ros2_server_ros1_client_across_dynamic_bridge',
+     [TEST_BRIDGE_ROS2_SERVER],
+     [TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_ROS1_CLIENT]),
+])
+def generate_test_description(test_name, server_cmd, client_cmd, ready_fn):
+    launch_description = LaunchDescription()
+
+    # ROS 1 core
+    launch_description.add_action(ExecuteProcess(
+        cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_ROSCORE],
+        name=test_name + '__roscore',
+    ))
+
+    # dynamic bridge
+    rosbridge_process = ExecuteProcess(
+        cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_DYNAMIC_BRIDGE],
+        name=test_name + '__dynamic_bridge',
+    )
+    launch_description.add_action(rosbridge_process)
+
+    server_process = ExecuteProcess(
+        cmd=server_cmd, name=test_name + '__server',
+    )
+    launch_description.add_action(server_process)
+
+    client_process = ExecuteProcess(
+        cmd=client_cmd, name=test_name + '__client',
+    )
+    launch_description.add_action(client_process)
+
+    launch_description.add_action(
+        OpaqueFunction(function=lambda context: ready_fn())
+    )
+    return launch_description, locals()
+
+
+class TestServicesAcrossDynamicBridge(unittest.TestCase):
+    def test_client_process_terminates_after_a_finite_amount_of_time(self, client_process):
+        """Test that the client executables terminates after a finite amount of time."""
+        self.proc_info.assertWaitForShutdown(process=client_process, timeout=30)
+
+
+@launch_testing.post_shutdown_test()
+class TestServicesAcrossDynamicBridgeAfterShutdown(unittest.TestCase):
+
+    def test_processes_finished_gracefully(self, proc_info, rosbridge_process,
+                                           server_process, client_process):
+        """Test that both executables finished gracefully."""
+        launch_testing.asserts.assertExitCodes(proc_info, process=rosbridge_process)
+        launch_testing.asserts.assertExitCodes(proc_info, process=server_process)
+        launch_testing.asserts.assertExitCodes(proc_info, process=client_process)