Revert "removed coltroller test for testing timeout"

This reverts commit 50c90e5.

.github/workflows/industrial_ci.yaml

@@ -29,7 +29,7 @@ jobs:
     ros_industrial_ci:
         name: ROS Industrial CI
         runs-on: ubuntu-22.04
-        timeout-minutes: 20
+        timeout-minutes: 60
         needs:
             - black
             - spellcheck

rosbot_controller/test/test_diff_drive_controllers.py

@@ -0,0 +1,101 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+# Copyright 2023 Intel Corporation. All Rights Reserved.
+# Copyright 2023 Husarion
+#
+# 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 launch_pytest
+import pytest
+import rclpy
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from test_utils import ControllersTestNode
+
+
+@launch_pytest.fixture
+def generate_test_description():
+    rosbot_controller = get_package_share_directory("rosbot_controller")
+    bringup_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    rosbot_controller,
+                    "launch",
+                    "controller.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "use_sim": "False",
+            "mecanum": "False",
+            "use_gpu": "False",
+        }.items(),
+    )
+
+    return LaunchDescription([bringup_launch])
+
+
+@pytest.mark.launch(fixture=generate_test_description)
+def test_controllers_startup_fail():
+    rclpy.init()
+    try:
+        node = ControllersTestNode("test_controllers_bringup")
+        node.create_test_subscribers_and_publishers()
+
+        node.start_node_thread()
+        msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
+        assert not msgs_received_flag, (
+            "Received JointStates message that should not have appeared. Check whether other"
+            " robots are connected to your network.!"
+        )
+        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
+        assert not msgs_received_flag, (
+            "Received Odom message that should not have appeared. Check whether other robots are"
+            " connected to your network.!"
+        )
+        msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
+        assert not msgs_received_flag, (
+            "Received Imu message that should not have appeared. Check whether other robots are"
+            " connected to your network.!"
+        )
+    finally:
+        rclpy.shutdown()
+
+
+@pytest.mark.launch(fixture=generate_test_description)
+def test_controllers_startup_success():
+    rclpy.init()
+    try:
+        node = ControllersTestNode("test_controllers_bringup")
+        node.create_test_subscribers_and_publishers()
+        node.start_publishing_fake_hardware()
+
+        node.start_node_thread()
+        msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
+        assert (
+            msgs_received_flag
+        ), "Expected JointStates message but it was not received. Check joint_state_broadcaster!"
+        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
+        assert (
+            msgs_received_flag
+        ), "Expected Odom message but it was not received. Check rosbot_base_controller!"
+        msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
+        assert (
+            msgs_received_flag
+        ), "Expected Imu message but it was not received. Check imu_broadcaster!"
+    finally:
+        rclpy.shutdown()

rosbot_controller/test/test_mecanum_controllers.py

@@ -0,0 +1,101 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+# Copyright 2023 Intel Corporation. All Rights Reserved.
+# Copyright 2023 Husarion
+#
+# 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 launch_pytest
+import pytest
+import rclpy
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from test_utils import ControllersTestNode
+
+
+@launch_pytest.fixture
+def generate_test_description():
+    rosbot_controller = get_package_share_directory("rosbot_controller")
+    bringup_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    rosbot_controller,
+                    "launch",
+                    "controller.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "use_sim": "False",
+            "mecanum": "True",
+            "use_gpu": "False",
+        }.items(),
+    )
+
+    return LaunchDescription([bringup_launch])
+
+
+@pytest.mark.launch(fixture=generate_test_description)
+def test_controllers_startup_fail():
+    rclpy.init()
+    try:
+        node = ControllersTestNode("test_controllers_bringup")
+        node.create_test_subscribers_and_publishers()
+
+        node.start_node_thread()
+        msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
+        assert not msgs_received_flag, (
+            "Received JointStates message that should not have appeared. Check whether other"
+            " robots are connected to your network.!"
+        )
+        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
+        assert not msgs_received_flag, (
+            "Received Odom message that should not have appeared. Check whether other robots are"
+            " connected to your network.!"
+        )
+        msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
+        assert not msgs_received_flag, (
+            "Received Imu message that should not have appeared. Check whether other robots are"
+            " connected to your network.!"
+        )
+    finally:
+        rclpy.shutdown()
+
+
+@pytest.mark.launch(fixture=generate_test_description)
+def test_controllers_startup_success():
+    rclpy.init()
+    try:
+        node = ControllersTestNode("test_controllers_bringup")
+        node.create_test_subscribers_and_publishers()
+        node.start_publishing_fake_hardware()
+
+        node.start_node_thread()
+        msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
+        assert (
+            msgs_received_flag
+        ), "Expected JointStates message but it was not received. Check joint_state_broadcaster!"
+        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
+        assert (
+            msgs_received_flag
+        ), "Expected Odom message but it was not received. Check rosbot_base_controller!"
+        msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
+        assert (
+            msgs_received_flag
+        ), "Expected Imu message but it was not received. Check imu_broadcaster!"
+    finally:
+        rclpy.shutdown()

rosbot_controller/test/test_multirobot_controllers.py

@@ -0,0 +1,84 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+# Copyright 2023 Intel Corporation. All Rights Reserved.
+# Copyright 2023 Husarion
+#
+# 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 launch_pytest
+import pytest
+import rclpy
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from test_utils import ControllersTestNode
+
+robot_names = ["rosbot1", "rosbot2", "rosbot3", "rosbot4"]
+
+
+@launch_pytest.fixture
+def generate_test_description():
+    rosbot_controller = get_package_share_directory("rosbot_controller")
+    actions = []
+    for i in range(len(robot_names)):
+        controller_launch = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [
+                        rosbot_controller,
+                        "launch",
+                        "controller.launch.py",
+                    ]
+                )
+            ),
+            launch_arguments={
+                "use_sim": "False",
+                "mecanum": "True",
+                "use_gpu": "False",
+                "namespace": robot_names[i],
+            }.items(),
+        )
+
+        actions.append(controller_launch)
+
+    return LaunchDescription(actions)
+
+
+@pytest.mark.launch(fixture=generate_test_description)
+def test_multirobot_controllers_startup_success():
+    for robot_name in robot_names:
+        rclpy.init()
+        try:
+            node = ControllersTestNode(f"test_{robot_name}_controllers", namespace=robot_name)
+            node.create_test_subscribers_and_publishers()
+            node.start_publishing_fake_hardware()
+
+            node.start_node_thread()
+            msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
+            assert msgs_received_flag, (
+                f"Expected JointStates message but it was not received. Check {robot_name}/"
+                "joint_state_broadcaster!"
+            )
+            msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
+            assert msgs_received_flag, (
+                f"Expected Odom message but it was not received. Check {robot_name}/"
+                "rosbot_base_controller!"
+            )
+            msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
+            assert (
+                msgs_received_flag
+            ), f"Expected Imu message but it was not received. Check {robot_name}/imu_broadcaster!"
+        finally:
+            rclpy.shutdown()