add tests for namespace

pal-robotics · jmguerreroh · Jul 20, 2021 · Jul 21, 2021 · Jul 21, 2021 · Jul 21, 2021
commit 4333c69adb997cf0994028289d5df0b43e8b745f
diff --git a/launch_pal/include_utils.py b/launch_pal/include_utils.py
@@ -130,7 130,7 @@ def include_scoped_launch_py_description(
  actions = []
 
  # Add namespace to launched node (needs to be run first)
- if namespace != None:
  if namespace:
  actions.append(PushRosNamespace(namespace))
  # Add environment variables
  actions.extend(env_vars)

diff --git a/test/test_include_utils.py b/test/test_include_utils.py
@@ -21,6 21,9 @@
 from launch.substitutions import LaunchConfiguration
 from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, IncludeLaunchDescription
 from launch_ros.substitutions import FindPackageShare
 from launch_ros.actions import PushRosNamespace
 
 import pytest
 
 
 class TestIncludeLaunch(unittest.TestCase):
@@ -157,3 160,46 @@ def test_include_scoped_python_file_with_args(self):
  nested_launch_args['arg_5'].variable_name[0].text, 'arg_e')
 
  return
 
 
 class Config:
  def __init__(
  self,
  *,
  push_ns=None,
  expected_ns=None,
  ):
  self.push_ns = push_ns
  self.expected_ns = expected_ns
 
  def __repr__(self):
  return f'push_ns={self.push_ns}, expected_ns={self.expected_ns}, '
 
 
 def get_test_cases():
  return (
  Config(push_ns='elle_pleut', expected_ns='/elle_pleut'),
  Config(push_ns='', expected_ns=''),
  Config(),
  )
 
 
 @pytest.mark.parametrize('config', get_test_cases())
 def test_push_ros_namespace_with_composable_node(config):
  context = LaunchContext()
  pkg_name = 'launch_pal'
  file_path = ['launch', 'test.launch.py']
 
  launch_description = include_scoped_launch_py_description(
  pkg_name=pkg_name,
  paths=file_path,
  namespace=config.push_ns,
  )
  scoped_actions = launch_description._GroupAction__actions
  expected_ns = config.expected_ns if config.expected_ns is not None else ''
  if expected_ns != '':
  assert isinstance(scoped_actions[0], PushRosNamespace)
  namespace_action: PushRosNamespace = scoped_actions[0]
  assert namespace_action.namespace[0].perform(context) == config.push_ns
  else:
  assert not isinstance(scoped_actions[0], PushRosNamespace)