Support launch_ros test runner in pytest

launch_testing_ros/launch_testing_ros/pytest/hooks.py

@@ -0,0 +1,42 @@
+# Copyright 2019 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.
+
+from launch_testing.pytest.hooks import LaunchTestItem
+from launch_testing.pytest.hooks import LaunchTestModule
+
+from ..test_runner import LaunchTestRunner
+
+
+class LaunchROSTestItem(LaunchTestItem):
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs, runner_cls=LaunchTestRunner)
+
+
+class LaunchROSTestModule(LaunchTestModule):
+
+    def makeitem(self, *args, **kwargs):
+        return LaunchROSTestItem(*args, **kwargs)
+
+
+def pytest_launch_collect_makemodule(path, parent, entrypoint):
+    marks = getattr(entrypoint, 'pytestmark', [])
+    if marks and len(marks) == 1 and marks[0].name == 'rostest':
+        return LaunchROSTestModule(path, parent)
+
+
+def pytest_configure(config):
+    config.addinivalue_line(
+        'markers', 'rostest: mark a launch test as a ROS launch test'
+    )

launch_testing_ros/setup.py

@@ -12,6 +12,9 @@
         ('lib/launch_testing_ros', glob.glob('example_nodes/**')),
         ('share/launch_testing_ros/examples', glob.glob('examples/[!_]**')),
     ],
+    entry_points={
+        'pytest11': ['launch_ros = launch_testing_ros.pytest.hooks'],
+    },
     install_requires=['setuptools'],
     zip_safe=True,
     author='Pete Baughman',

launch_testing_ros/examples/README.md → launch_testing_ros/test/examples/README.md

@@ -1,31 +1,23 @@
 # Examples
 
-## `talker_listener.test.py`
+## `talker_listener_launch_test.py`
 
 Usage:
-> launch_test examples/talker_listener.test.py
+> launch\_test talker_listener\_launch\_test.py
 
-This test launches the talker and listener example nodes from demo_nodes_py and interacts
+This test launches the talker and listener example nodes from demo\_nodes\_py and interacts
 with them via their ROS interfaces.  Remapping rules are used so that one of the tests can sit in
 between the talker and the listener and change the data on the fly.
 
-Node that in the setUpClass method, the test makes sure that the listener is subscribed and
-republishing messages.  Since the listener process provides no synchronization mechanism to
-inform the outside world that it's up and running, this step is necessary especially in resource
-constrained environments where process startup may take a non negligible amount of time.  This
-is often the cause of "flakyness" in tests on CI systems.  A more robust design of the talker and
-listener processes might provide some positive feedback that the node is up and running, but these
-are simple example nodes.
-
-#### test_fuzzy_data
+#### test\_fuzzy\_data
 This test gives an example of what a test that fuzzes data might look like.  A ROS subscriber
 and publisher pair encapsulated in a `DataRepublisher` object changes the string "Hello World" to
 "Aloha World" as it travels between the talker and the listener.
 
-#### test_listener_receives
+#### test\_listener\_receives
 This test publishes unique messages on the `/chatter` topic and asserts that the same messages
 go to the stdout of the listener node
 
-#### test_talker_transmits
+#### test\_talker\_transmits
 This test subscribes to the remapped `/talker_chatter` topic and makes sure the talker node also
 writes the data it's transmitting to stdout