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Add tests for launch_utils of controller manager (#2768) (#3509)
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‎controller_manager/CMakeLists.txt‎

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DESTINATION test)
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ament_add_pytest_test(test_ros2_control_node test/test_ros2_control_node_launch.py)
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ament_add_pytest_test(test_test_utils test/test_test_utils.py)
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# Now include the launch_utils subfolder
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add_subdirectory(test/test_launch_utils)
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endif()
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install(

‎controller_manager/test/test_launch_utils/CMakeLists.txt‎

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# This subdirectory handles pytest-based launch tests for controller_manager
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find_package(ament_cmake_pytest REQUIRED)
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find_package(launch_testing_ament_cmake REQUIRED)
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find_package(rclpy REQUIRED)
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# Install YAML test files
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#
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install(
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FILES
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test_ros2_control_node_combined.yaml
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DESTINATION share/${PROJECT_NAME}/test/test_launch_utils
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)
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# Register each test with ament
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ament_add_pytest_test(test_launch_utils_unit
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test_launch_utils_unit.py
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)
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ament_add_pytest_test(test_launch_utils_integration_list
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test_launch_utils_integration_list.py
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APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}_$<CONFIG>
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)
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ament_add_pytest_test(test_launch_utils_integration_dict
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test_launch_utils_integration_dict.py
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APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}_$<CONFIG>
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)
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ament_add_pytest_test(test_launch_utils_integration_load
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test_launch_utils_integration_load.py
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APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}_$<CONFIG>
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)

‎controller_manager/test/test_launch_utils/test_launch_utils_integration_dict.py‎

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#!/usr/bin/env python3
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# Copyright 2025 Robert Kwan
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import pytest
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import unittest
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from launch import LaunchDescription
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import launch_testing
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from launch_testing.actions import ReadyToTest
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import launch_ros.actions
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from launch.substitutions import FileContent, PathSubstitution
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from launch_ros.substitutions import FindPackageShare
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import rclpy
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from controller_manager.test_utils import check_controllers_running
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from controller_manager.launch_utils import (
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generate_controllers_spawner_launch_description_from_dict,
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)
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@pytest.mark.launch_test
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def generate_test_description():
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"""
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Generate launch description for testing the dict-based spawner helper.
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Uses the combined controller YAML installed with the package.
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"""
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urdf = FileContent(
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PathSubstitution(FindPackageShare("ros2_control_test_assets"))
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/ "urdf"
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/ "test_hardware_components.urdf"
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)
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robot_description = {"robot_description": urdf}
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# The dictionary keys are the controller names to be spawned/started.
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# Values can be empty lists since config is provided via the main YAML.
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ctrl_dict = {
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"test_broadcaster": [],
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"controller1": [],
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"controller2": [],
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}
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controller_list = list(ctrl_dict.keys())
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# ===== CREATE LAUNCH DESCRIPTION =====
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return LaunchDescription(
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[
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launch_ros.actions.Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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namespace="",
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output="both",
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parameters=[robot_description],
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),
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launch_ros.actions.Node(
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package="controller_manager",
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executable="ros2_control_node",
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namespace="",
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parameters=[
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robot_description,
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PathSubstitution(FindPackageShare("controller_manager"))
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/ "test"
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/ "test_launch_utils"
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/ "test_ros2_control_node_combined.yaml",
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],
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output="both",
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),
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generate_controllers_spawner_launch_description_from_dict(
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controller_info_dict=ctrl_dict,
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extra_spawner_args=["--inactive"],
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),
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ReadyToTest(),
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]
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), {"controller_list": controller_list}
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# Active tests
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class TestControllerSpawnerList(unittest.TestCase):
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"""Active tests that run while the launch is active."""
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@classmethod
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def setUpClass(cls):
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rclpy.init()
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@classmethod
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def tearDownClass(cls):
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rclpy.shutdown()
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def setUp(self):
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self.node = rclpy.create_node("test_controller_spawner")
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def tearDown(self):
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self.node.destroy_node()
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def test_controllers_start(self, proc_info, controller_list):
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cnames = controller_list.copy()
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check_controllers_running(self.node, cnames, state="inactive")
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# Wait for controller_spawner to finish and verify successful exit.
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proc_info.assertWaitForShutdown(process="spawner", timeout=30)
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launch_testing.asserts.assertExitCodes(proc_info, process="spawner")
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# Re-check controllers after spawner has exited.
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check_controllers_running(self.node, cnames, state="inactive")
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@launch_testing.post_shutdown_test()
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class TestShutdown(unittest.TestCase):
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"""Post-shutdown tests."""
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def test_exit_codes(self, proc_info):
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"""Verify all processes exited successfully."""
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launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[0])

‎controller_manager/test/test_launch_utils/test_launch_utils_integration_list.py‎

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#!/usr/bin/env python3
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# Copyright 2025 Robert Kwan
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import pytest
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import unittest
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from launch import LaunchDescription
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import launch_testing
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from launch_testing.actions import ReadyToTest
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import launch_ros.actions
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from launch.substitutions import FileContent, PathSubstitution
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from launch_ros.substitutions import FindPackageShare
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import rclpy
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from controller_manager.test_utils import check_controllers_running
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from controller_manager.launch_utils import generate_controllers_spawner_launch_description
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@pytest.mark.launch_test
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def generate_test_description():
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"""
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Generate launch description for testing.
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"""
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urdf = FileContent(
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PathSubstitution(FindPackageShare("ros2_control_test_assets"))
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/ "urdf"
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/ "test_hardware_components.urdf"
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)
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robot_description = {"robot_description": urdf}
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# Path to combined YAML
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robot_controllers = (
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PathSubstitution(FindPackageShare("controller_manager"))
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/ "test"
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/ "test_launch_utils"
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/ "test_ros2_control_node_combined.yaml"
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)
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# ===== DEFINE CONTROLLERS TO SPAWN =====
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controller_list = ["test_broadcaster", "controller1", "controller2"]
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# ===== CREATE LAUNCH DESCRIPTION =====
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return LaunchDescription(
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[
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launch_ros.actions.Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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namespace="",
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output="both",
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parameters=[robot_description],
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),
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launch_ros.actions.Node(
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package="controller_manager",
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executable="ros2_control_node",
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namespace="",
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parameters=[robot_description, robot_controllers],
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output="both",
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),
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generate_controllers_spawner_launch_description(
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controller_names=controller_list.copy(),
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controller_params_files=[robot_controllers],
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extra_spawner_args=["--inactive"],
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),
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ReadyToTest(),
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]
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), {"controller_list": controller_list}
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# Active tests
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class TestControllerSpawnerList(unittest.TestCase):
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"""Active tests that run while the launch is active."""
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@classmethod
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def setUpClass(cls):
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rclpy.init()
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@classmethod
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def tearDownClass(cls):
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rclpy.shutdown()
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def setUp(self):
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self.node = rclpy.create_node("test_controller_spawner")
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def tearDown(self):
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self.node.destroy_node()
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def test_controllers_start(self, proc_info, controller_list):
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cnames = controller_list.copy()
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check_controllers_running(self.node, cnames, state="inactive")
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# Wait for controller_spawner to finish and verify successful exit.
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proc_info.assertWaitForShutdown(process="spawner", timeout=30)
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launch_testing.asserts.assertExitCodes(proc_info, process="spawner")
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# Re-check controllers after spawner has exited.
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check_controllers_running(self.node, cnames, state="inactive")
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@launch_testing.post_shutdown_test()
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class TestShutdown(unittest.TestCase):
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"""Post-shutdown tests."""
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def test_exit_codes(self, proc_info):
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"""Verify all processes exited successfully."""
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launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[0])

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