urdf_test

Provides a utility to test that a robot_description is loaded and published correctly from a launch file.

To use it include a launch_test in your package’s CMakeLists.txt

	add_launch_test(
	  test/test_description.launch.py
	  TARGET "pmb2_description_${laser_model}_${courier_rgbd_sensors}" # With TARGET set test name
      ARGS "laser_model:=${laser_model}" "courier_rgbd_sensors:=${courier_rgbd_sensors}" # You can use variables to test different configurations
	)

And in the launch.py file include the description generator and the Test classes:

from urdf_test.description_test import (generate_urdf_test_description,
                                        TestDescriptionPublished, TestSuccessfulExit)
from launch_pal.include_utils import include_launch_py_description

# Ignore unused import warnings for the Test Classes
__all__ = ('TestDescriptionPublished', 'TestSuccessfulExit')


def generate_test_description():
    return generate_urdf_test_description(
        include_launch_py_description(
            'pmb2_description', ['launch', 'robot_state_publisher.launch.py']),
    )

xacro_test

As a faster alternative, the xacro can get checked directly. define_xacro_test takes a xacro file path and a number of DeclareLaunchArgument arguments, which are used to form the test matrix (cartesian product).

from pathlib import Path

from ament_index_python.packages import get_package_share_directory
from pmb2_description.launch_arguments import PMB2Args

from urdf_test.xacro_test import define_xacro_test

xacro_file_path = Path(
    get_package_share_directory('pmb2_description'),
    'robots',
    'pmb2.urdf.xacro',
)

test_xacro = define_xacro_test(xacro_file_path, PMB2Args.laser_model, PMB2Args.add_on_module)

Contributing Guidelines

Thank you for your interest in contributing to this project Whether it’s a bug report, new feature, correction, or additional documentation, we greatly value feedback and contributions from our community.

Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.

Reporting Bugs/Feature Requests

We welcome you to use the GitHub issue tracker to report bugs or suggest features.

When filing an issue, please check existing open issues, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:

• A reproducible test case or series of steps
• The version of our code being used
• Any modifications you’ve made relevant to the bug
• Anything unusual about your environment or deployment

Contributing via Pull Requests

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

1. You are working against the latest source on the master branch.
2. You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
3. You open an issue to discuss any significant work - we would hate for your time to be wasted.

To send us a pull request, please:

1. Fork the repository.
2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
3. Ensure local tests pass. (colcon test)
4. Commit to your fork using clear commit messages.
5. Send a pull request, answering any default questions in the pull request interface.
6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

GitHub provides additional documentation on forking a repository and creating a pull request.

Licensing

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.