v01

thirdparty/ros/ros_comm/test/test_roslaunch/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(test_roslaunch)
+find_package(catkin REQUIRED COMPONENTS rostest)
+catkin_package()
+
+if(CATKIN_ENABLE_TESTING)
+  add_rostest(test/roslaunch.test)
+  add_rostest(test/env.test)
+  add_rostest(test/params_basic.test)
+endif()

thirdparty/ros/ros_comm/test/test_roslaunch/package.xml

@@ -0,0 +1,20 @@
+<package>
+  <name>test_roslaunch</name>
+  <version>1.12.14</version>
+  <description>
+    Tests for roslaunch which depend on rostest.
+  </description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://ros.org/wiki/roslaunch</url>
+  <author>Ken Conley</author>
+
+  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+
+  <build_depend>rostest</build_depend>
+
+  <test_depend>python-rospkg</test_depend>
+  <test_depend>rosgraph</test_depend>
+  <test_depend>roslaunch</test_depend>
+</package>

thirdparty/ros/ros_comm/test/test_roslaunch/test/dump-params.yaml

@@ -0,0 +1,2 @@
+string1: bar
+dict1: { head: 1, shoulders: 2, knees: 3, toes: 4}

thirdparty/ros/ros_comm/test/test_roslaunch/test/env.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+PKG = 'test_roslaunch'
+NAME = 'test_env'
+
+import os, sys, unittest
+
+import rostest
+import rospkg
+
+## Test Roslaunch 'env' tags
+class TestEnv(unittest.TestCase):
+    def test_env(self):
+        if '--noenv' in sys.argv:
+            self.assertEquals(None, os.environ.get('TEST_ENV', None))
+            self.assertEquals(None, os.environ.get('TEST_ENV_SUBSTITUTION', None))
+        else:
+            self.assertEquals('test env', os.environ.get('TEST_ENV', None))
+            rospack = rospkg.RosPack()
+            path1 = os.path.join(rospack.get_path('roslaunch'), 'src')
+            path2 = os.environ.get('TEST_ENV_SUBSTITUTION', None)
+            self.assertEquals(os.path.abspath(path1), os.path.abspath(path2))
+        
+if __name__ == '__main__':
+    rostest.rosrun(PKG, NAME, TestEnv)
+    

thirdparty/ros/ros_comm/test/test_roslaunch/test/env.test

@@ -0,0 +1,7 @@
+<launch>
+  <test test-name="env" pkg="test_roslaunch" type="env.py" >
+    <env name="TEST_ENV" value="test env"/>
+    <env name="TEST_ENV_SUBSTITUTION" value="$(find roslaunch)/src/"/>    
+  </test>
+  <test test-name="noenv" pkg="test_roslaunch" type="env.py" args="--noenv" />
+</launch>

thirdparty/ros/ros_comm/test/test_roslaunch/test/params.yaml

@@ -0,0 +1,22 @@
+string1: bar
+string2: !!str 10
+preformattedtext: |
+  This is the first line
+  This is the second line
+  Line breaks are preserved
+  Indentation is stripped
+list1:
+ - head
+ - shoulders
+ - knees
+ - toes
+list2: [1, 1, 2, 3, 5, 8]
+dict1: { head: 1, shoulders: 2, knees: 3, toes: 4}
+integer1: 1
+integer2: 2
+float1: 3.14159
+float2: 1.2345e+3
+robots:
+  childparam: a child namespace parameter
+  child:
+     grandchildparam: a grandchild namespace param

thirdparty/ros/ros_comm/test/test_roslaunch/test/params_basic.py

@@ -0,0 +1,121 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+PKG = 'test_roslaunch'
+
+import os, sys, unittest
+
+try:
+    from xmlrpc.client import Binary
+except ImportError:
+    from xmlrpclib import Binary
+import rostest
+import rospkg
+
+import rosgraph
+master = rosgraph.Master('params_basic')
+def get_param(*args):
+    return master.getParam(*args)
+    
+## Test Roslaunch 'param' tags
+class TestParamsBasic(unittest.TestCase):
+
+    ## test primitive values
+    def test_values(self):
+        ## Test roslaunch string params
+        self.assertEquals(get_param('stringempty'), '')
+        print(get_param('stringbar'))
+        self.assertEquals(get_param('stringbar'), 'bar')
+        self.assertEquals(get_param('str10'), '10')
+        self.assertEquals(get_param('string10'), '10')        
+        self.assertEquals(get_param('stringentity'), '<stringentity/>')        
+        ## Test roslaunch integer params
+        self.assertEquals(get_param("integerneg1"), -1)
+        self.assertEquals(get_param("integer0"), 0)
+        self.assertEquals(get_param("integer1"), 1)
+        self.assertEquals(get_param("integernoop1"), 1)
+        self.assertEquals(get_param("integer12345"), 12345)
+        ## Test roslaunch float params
+        self.assertEquals(get_param("floatpi"),3.14159)
+        self.assertEquals(get_param("floatnooppi"),3.14159)
+        self.assertEquals(get_param("float3"),3.0)
+        self.assertEquals(get_param("floatneg1"),-1.0)
+        ## Test roslaunch boolean params
+        for p in ['true', 'TRUE', 'True']:
+            self.assertTrue(get_param(p), "[%s] is not false: %s"%(p, get_param(p)))
+        for p in ['false', "FALSE", 'False']:
+            self.assertFalse(get_param(p), "[%s] is not false: %s"%(p, get_param(p)))
+            
+    ## Test roslaunch ns attribute (namespace) on params
+    def test_ns(self):
+        self.assertEquals(get_param("/wg/childparam"),"wg")
+        self.assertEquals(get_param("/wg2/childparam"),"wg2")
+        self.assertEquals(get_param("/wg3/childparam"),"wg3")
+        self.assertEquals(get_param("/wg/wg4/childparam"),"wg4")
+        self.assertEquals(get_param("/wg/wg4/wg5/childparam"),"wg5")          
+        ## Test roslaunch <group> tag with and without ns attribute
+        self.assertEquals(get_param("/wga/wg/childparam"),"wg")
+        self.assertEquals(get_param("/wga/wg2/childparam"),"wg2")
+        self.assertEquals(get_param("/wga/wg3/childparam"),"wg3")
+        self.assertEquals(get_param("/wga/wg/wg4/childparam"),"wg4")
+        self.assertEquals(get_param("/wga/wg/wg4/wg5/childparam"),"wg5")          
+        # test second-level group
+        self.assertEquals(get_param("/wga/wgb/wg/childparam"),"bwg")
+        self.assertEquals(get_param("/wga/wgb/wg2/childparam"),"bwg2")
+        self.assertEquals(get_param("/wga/wgb/wg3/childparam"),"bwg3")
+        self.assertEquals(get_param("/wga/wgb/wg/wg4/childparam"),"bwg4")
+        self.assertEquals(get_param("/wga/wgb/wg/wg4/wg5/childparam"),"bwg5")
+        # test unscoped group
+        self.assertEquals(get_param("/wgc/childparam"),"wg")
+        self.assertEquals(get_param("/wgc2/childparam"),"wg2")
+        self.assertEquals(get_param("/wgc3/childparam"),"wg3")
+        self.assertEquals(get_param("/wgc/wg4/childparam"),"wg4")
+        self.assertEquals(get_param("/wgc/wg4/wg5/childparam"),"wg5")          
+        
+    ## test 'command' attribute
+    def test_commandandfile(self):
+        dir = rospkg.RosPack().get_path('roslaunch')
+        with open(os.path.join(dir, 'resources', 'example.launch'), 'r') as f:
+            text_data = f.read()
+        with open(os.path.join(dir, 'resources', 'example.launch'), 'rb') as f:
+            binary_data = f.read()
+        self.assertEquals(get_param("commandoutput"), binary_data)
+        self.assertEquals(get_param("textfile"), text_data)
+        ## test 'binfile' attribute
+        bindata = get_param("binaryfile")
+        self.assertTrue(isinstance(bindata, Binary))
+        self.assertEquals(bindata.data, binary_data)
+    
+if __name__ == '__main__':
+    rostest.rosrun(PKG, sys.argv[0], TestParamsBasic, sys.argv)
+    

thirdparty/ros/ros_comm/test/test_roslaunch/test/params_basic.test

@@ -0,0 +1,66 @@
+<launch>
+  <!-- string parameters -->
+  <param name="stringempty"  value="" />
+  <param name="stringbar"    value="bar" />
+  <param name="str10"        value="10" type="str" />
+  <param name="string10"     value="10" type="string" />  <!-- type alias -->
+  <param name="stringentity" value="&lt;stringentity/&gt;" />  
+  
+  <!-- integer parameters -->
+  <param name="integer0"     value="0" />
+  <param name="integer1"     value="1" />
+  <param name="integernoop1" value="1" />  
+  <param name="integer12345" value="12345" />
+  <param name="integerneg1"  value="-1"/>
+  
+  <!-- float parameters -->
+  <param name="floatpi"     value="3.14159" />  
+  <param name="floatnooppi" value="3.14159" type="double" />  
+  <param name="float3"      value="3.0" />
+  <param name="floatneg1"   value="-1.0" />  
+
+  <!-- boolean parameters -->
+  <param name="true"  value="true" />
+  <param name="false" value="false" />
+  <param name="TRUE"  value="TRUE" />
+  <param name="FALSE" value="FALSE" />
+  <param name="True"  value="True" />          
+  <param name="False" value="False" />          
+    
+  <!-- child namespace parameters -->
+  <param name="wg/childparam" value="wg" />
+  <param name="wg2/childparam" value="wg2" />
+  <param name="wg3/childparam" value="wg3" />
+  <param name="wg/wg4/wg5/childparam" value="wg5" />  
+  <param name="wg/wg4/childparam" value="wg4" />
+
+  <group ns="wga">
+    <param name="wg/childparam" value="wg" />
+    <param name="wg2/childparam" value="wg2" />
+    <param name="wg3/childparam" value="wg3" />
+    <param name="wg/wg4/wg5/childparam" value="wg5" />  
+    <param name="wg/wg4/childparam" value="wg4" />
+
+    <group ns="wgb">
+      <param name="wg/childparam" value="bwg" />
+      <param name="wg2/childparam" value="bwg2" />
+      <param name="wg3/childparam" value="bwg3" />
+      <param name="wg/wg4/wg5/childparam" value="bwg5" />  
+      <param name="wg/wg4/childparam" value="bwg4" />
+    </group>
+  </group>
+
+  <group> <!-- no ns attribute -->
+    <param name="wgc/childparam" value="wg" />
+    <param name="wgc2/childparam" value="wg2" />
+    <param name="wgc3/childparam" value="wg3" />
+    <param name="wgc/wg4/wg5/childparam" value="wg5" />  
+    <param name="wgc/wg4/childparam" value="wg4" />
+  </group>
+  
+  <param name="textfile" textfile="$(find roslaunch)/resources/example.launch" />
+  <param name="binaryfile" binfile="$(find roslaunch)/resources/example.launch" />
+  <param name="commandoutput" command="cat &quot;$(find roslaunch)/resources/example.launch&quot;" />
+
+  <test test-name="params_basic" pkg="test_roslaunch" type="params_basic.py" />
+</launch>

thirdparty/ros/ros_comm/test/test_roslaunch/test/params_empty2.yaml

@@ -0,0 +1,3 @@
+#
+#
+#

thirdparty/ros/ros_comm/test/test_roslaunch/test/ros_args.launch

@@ -0,0 +1,7 @@
+<launch>
+  <arg name="foo" default="true" doc="I pity the foo'."/>
+  <arg name="bar" doc="Someone walks into this."/>
+  <arg name="baz" default="false"/>
+  <arg name="nop"/>
+  <arg name="fix" value="true"/>
+</launch>

thirdparty/ros/ros_comm/test/test_roslaunch/test/roslaunch.test

@@ -0,0 +1,4 @@
+<launch>
+  <test test-name="roslaunch_command_line_online" pkg="test_roslaunch" type="test_roslaunch_command_line_online.py" />
+  <test test-name="roslaunch_ros_args" pkg="test_roslaunch" type="test_roslaunch_ros_args.py" />
+</launch>

thirdparty/ros/ros_comm/test/test_roslaunch/test/test_roslaunch_command_line_online.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id: test_roslaunch_command_line_online.py 6411 2009-10-02 21:32:01Z kwc $
+
+PKG = 'roslaunch'
+NAME = 'test_roslaunch_command_line_online'
+
+import os
+import sys 
+import time
+import unittest
+import yaml
+
+import rostest
+
+from subprocess import Popen, PIPE, check_call, call
+
+class TestRoslaunchOnline(unittest.TestCase):
+
+    def setUp(self):
+        self.vals = set()
+        self.msgs = {}
+
+    def test_roslaunch(self):
+        # network is initialized
+        cmd = 'roslaunch'
+
+        # regression test for #1994
+        # --wait
+        # master is already running, noop only sets params, so this should return
+        check_call([cmd, '--wait', 'roslaunch', 'noop.launch'])
+
+        # tripwire test for #2370, not really possible to validate output on this
+        check_call([cmd, '--screen', 'roslaunch', 'noop.launch'])        
+
+if __name__ == '__main__':
+    rostest.run(PKG, NAME, TestRoslaunchOnline, sys.argv)

thirdparty/ros/ros_comm/test/test_roslaunch/test/test_roslaunch_ros_args.py

@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2014, The Johns Hopkins University
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+PKG = 'roslaunch'
+NAME = 'test_roslaunch_ros_args'
+
+import os
+import sys 
+import unittest
+
+import rostest
+
+import rospkg
+import roslaunch.arg_dump
+
+class TestRoslaunchRosArgs(unittest.TestCase):
+
+    def setUp(self):
+        self.vals = set()
+        self.msgs = {}
+
+    def test_roslaunch(self):
+        rospack = rospkg.RosPack()
+        filename = os.path.join(rospack.get_path('test_roslaunch'), 'test', 'ros_args.launch')
+
+        args = roslaunch.arg_dump.get_args([filename])
+
+        expected_args = {
+                'foo': ("I pity the foo'.", 'true'),
+                'bar': ("Someone walks into this.", None,),
+                'baz': (None, 'false'),
+                'nop': (None, None)}
+
+        self.assertEqual(args, expected_args)
+
+if __name__ == '__main__':
+    rostest.run(PKG, NAME, TestRoslaunchRosArgs, sys.argv)