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[ros2interface] Remove usage of deprecated std_msgs and std_srvs packages #516

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May 22, 2020
Merged

[ros2interface] Remove usage of deprecated std_msgs and std_srvs packages #516

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bb2f5d3
Remove usage of deprecated std_msgs and std_srvs packages
jacobperron May 20, 2020
ae8649c
Minor refactor
jacobperron May 22, 2020
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2 changes: 0 additions & 2 deletions ros2interface/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,6 @@
<test_depend>ament_xmllint</test_depend>
<test_depend>python3-pytest</test_depend>
<test_depend>ros_testing</test_depend>
<test_depend>std_msgs</test_depend>
<test_depend>std_srvs</test_depend>
<test_depend>test_msgs</test_depend>

<export>
Expand Down
2 changes: 1 addition & 1 deletion ros2interface/ros2interface/verb/package.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ class PackageVerb(VerbExtension):
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'package_name',
help="Name of the ROS package (e.g. 'std_msgs, std_srvs, etc.')")
help="Name of the ROS package (e.g. 'example_interfaces')")
arg.completer = package_name_completer

def main(self, *, args):
Expand Down
2 changes: 1 addition & 1 deletion ros2interface/ros2interface/verb/proto.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ class ProtoVerb(VerbExtension):
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'type',
help="Show an interface definition (e.g. 'std_msgs/msg/String')")
help="Show an interface definition (e.g. 'example_interfaces/msg/String')")
arg.completer = type_completer
parser.add_argument(
'--no-quotes', action='store_true',
Expand Down
2 changes: 1 addition & 1 deletion ros2interface/ros2interface/verb/show.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ class ShowVerb(VerbExtension):
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'type',
help="Show an interface definition (e.g. 'std_msgs/msg/String')")
help="Show an interface definition (e.g. 'example_interfaces/msg/String')")
arg.completer = type_completer

def main(self, *, args):
Expand Down
105 changes: 45 additions & 60 deletions ros2interface/test/test_cli.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,25 +38,25 @@
allow_module_level=True)


some_messages_from_std_msgs = [
'std_msgs/msg/Bool',
'std_msgs/msg/Float32',
'std_msgs/msg/Float64',
some_messages_from_test_msgs = [
'test_msgs/msg/BasicTypes',
'test_msgs/msg/Constants',
'test_msgs/msg/Strings',
]

some_services_from_std_srvs = [
'std_srvs/srv/Empty',
'std_srvs/srv/SetBool',
'std_srvs/srv/Trigger',
some_services_from_test_msgs = [
'test_msgs/srv/Arrays',
'test_msgs/srv/BasicTypes',
'test_msgs/srv/Empty',
]

some_actions_from_test_msgs = [
'test_msgs/action/Fibonacci'
]

some_interfaces = (
some_messages_from_std_msgs +
some_services_from_std_srvs +
some_messages_from_test_msgs +
some_services_from_test_msgs +
some_actions_from_test_msgs
)

Expand Down Expand Up @@ -126,7 +126,7 @@ def test_list_messages(self):
strict=True
)
assert launch_testing.tools.expect_output(
expected_lines=some_messages_from_std_msgs,
expected_lines=some_messages_from_test_msgs,
lines=output_lines,
strict=False
)
Expand All @@ -146,7 +146,7 @@ def test_list_services(self):
strict=True
)
assert launch_testing.tools.expect_output(
expected_lines=some_services_from_std_srvs,
expected_lines=some_services_from_test_msgs,
lines=output_lines,
strict=False
)
Expand Down Expand Up @@ -183,38 +183,6 @@ def test_package_on_nonexistent_package(self):
strict=True
)

def test_package_on_std_msgs(self):
with self.launch_interface_command(
arguments=['package', 'std_msgs']
) as interface_command:
assert interface_command.wait_for_shutdown(timeout=2)
assert interface_command.exit_code == launch_testing.asserts.EXIT_OK
output_lines = interface_command.output.splitlines()
assert launch_testing.tools.expect_output(
expected_lines=itertools.repeat(
re.compile(r'std_msgs/msg/[A-z0-9_]+'), len(output_lines)
),
lines=output_lines,
strict=True
)
assert all(msg in output_lines for msg in some_messages_from_std_msgs)

def test_package_on_std_srvs(self):
with self.launch_interface_command(
arguments=['package', 'std_srvs']
) as interface_command:
assert interface_command.wait_for_shutdown(timeout=2)
assert interface_command.exit_code == launch_testing.asserts.EXIT_OK
output_lines = interface_command.output.splitlines()
assert launch_testing.tools.expect_output(
expected_lines=itertools.repeat(
re.compile(r'std_srvs/srv/[A-z0-9_]+'), len(output_lines)
),
lines=output_lines,
strict=True
)
assert all(srv in output_lines for srv in some_services_from_std_srvs)

def test_package_on_test_msgs(self):
with self.launch_interface_command(
arguments=['package', 'test_msgs']
Expand All @@ -229,15 +197,13 @@ def test_package_on_test_msgs(self):
lines=output_lines,
strict=True
)
assert all(action in output_lines for action in some_actions_from_test_msgs)
assert all(action in output_lines for action in some_interfaces)
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def test_packages(self):
with self.launch_interface_command(arguments=['packages']) as interface_command:
assert interface_command.wait_for_shutdown(timeout=2)
assert interface_command.exit_code == launch_testing.asserts.EXIT_OK
output_lines = interface_command.output.splitlines()
assert 'std_msgs' in output_lines
assert 'std_srvs' in output_lines
assert 'test_msgs' in output_lines

def test_packages_with_messages(self):
Expand All @@ -247,8 +213,6 @@ def test_packages_with_messages(self):
assert interface_command.wait_for_shutdown(timeout=2)
assert interface_command.exit_code == launch_testing.asserts.EXIT_OK
output_lines = interface_command.output.splitlines()
assert 'std_msgs' in output_lines
assert 'std_srvs' not in output_lines
assert 'test_msgs' in output_lines

def test_packages_with_services(self):
Expand All @@ -258,8 +222,6 @@ def test_packages_with_services(self):
assert interface_command.wait_for_shutdown(timeout=2)
assert interface_command.exit_code == launch_testing.asserts.EXIT_OK
output_lines = interface_command.output.splitlines()
assert 'std_msgs' not in output_lines
assert 'std_srvs' in output_lines
assert 'test_msgs' in output_lines

def test_packages_with_actions(self):
Expand All @@ -269,36 +231,59 @@ def test_packages_with_actions(self):
assert interface_command.wait_for_shutdown(timeout=2)
assert interface_command.exit_code == launch_testing.asserts.EXIT_OK
output_lines = interface_command.output.splitlines()
assert 'std_msgs' not in output_lines
assert 'std_srvs' not in output_lines
assert 'test_msgs' in output_lines

def test_show_message(self):
with self.launch_interface_command(
arguments=['show', 'std_msgs/msg/String']
arguments=['show', 'test_msgs/msg/Nested']
) as interface_command:
assert interface_command.wait_for_shutdown(timeout=2)
assert interface_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=[
'string data'
'BasicTypes basic_types_value'
],
text=interface_command.output,
strict=True
)

def test_show_service(self):
with self.launch_interface_command(
arguments=['show', 'std_srvs/srv/SetBool']
arguments=['show', 'test_msgs/srv/BasicTypes']
) as interface_command:
assert interface_command.wait_for_shutdown(timeout=2)
assert interface_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=[
'bool data # e.g. for hardware enabling / disabling',
'bool bool_value',
'byte byte_value',
'char char_value',
'float32 float32_value',
'float64 float64_value',
'int8 int8_value',
'uint8 uint8_value',
'int16 int16_value',
'uint16 uint16_value',
'int32 int32_value',
'uint32 uint32_value',
'int64 int64_value',
'uint64 uint64_value',
'string string_value',
'---',
'bool success # indicate successful run of triggered service',
'string message # informational, e.g. for error messages'
'bool bool_value',
'byte byte_value',
'char char_value',
'float32 float32_value',
'float64 float64_value',
'int8 int8_value',
'uint8 uint8_value',
'int16 int16_value',
'uint16 uint16_value',
'int32 int32_value',
'uint32 uint32_value',
'int64 int64_value',
'uint64 uint64_value',
'string string_value',
],
text=interface_command.output,
strict=True
Expand Down Expand Up @@ -339,7 +324,7 @@ def test_show_not_a_package(self):

def test_show_not_an_interface(self):
with self.launch_interface_command(
arguments=['show', 'std_msgs/msg/NotAMessageTypeName']
arguments=['show', 'test_msgs/msg/NotAMessageTypeName']
) as interface_command:
assert interface_command.wait_for_shutdown(timeout=2)
assert interface_command.exit_code == 1
Expand Down