Skip to content

[composition] Enable tests #748

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
SuperJappie08 wants to merge 2 commits into
base: rolling
Choose a base branch
from
+62 −49
Open

[composition] Enable tests #748

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
0a3d53f
Enable tests
SuperJappie08 Oct 23, 2025
9c081b1
Update api composition tests to use launch_ros
SuperJappie08 Jan 10, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions composition/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -170,6 +170,9 @@ if(BUILD_TESTING)
"test_dlopen_composition"
"test_linktime_composition"
"test_manual_composition"
"test_api_pubsub_composition"
"test_api_srv_composition_client_first"
"test_api_srv_composition"
)
foreach(test_name IN LISTS test_names)
configure_file(
Expand Down
6 changes: 3 additions & 3 deletions composition/test/test_api_pubsub_composition.py.in
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,15 +26,15 @@ import launch_testing_ros
def generate_test_description():
launch_description = LaunchDescription()
process_under_test = ExecuteProcess(
cmd=['@API_COMPOSITION_EXECUTABLE@'],
cmd=['ros2', 'run', 'rclcpp_components', 'component_container'],
name='test_api_composition',
output='screen'
)
launch_description.add_action(process_under_test)
launch_description.add_action(
ExecuteProcess(
cmd=[
'@API_COMPOSITION_CLI_EXECUTABLE@',
'ros2', 'component', 'load', '/ComponentManager',
'composition', 'composition::Talker'
],
name='load_talker_component'
Expand All @@ -43,7 +43,7 @@ def generate_test_description():
launch_description.add_action(
ExecuteProcess(
cmd=[
'@API_COMPOSITION_CLI_EXECUTABLE@',
'ros2', 'component', 'load', '/ComponentManager',
'composition', 'composition::Listener'
],
name='load_listener_component'
Expand Down
6 changes: 3 additions & 3 deletions composition/test/test_api_srv_composition.py.in
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,15 +26,15 @@ import launch_testing_ros
def generate_test_description():
launch_description = LaunchDescription()
process_under_test = ExecuteProcess(
cmd=['@API_COMPOSITION_EXECUTABLE@'],
cmd=['ros2', 'run', 'rclcpp_components', 'component_container'],
name='test_api_composition',
output='screen'
)
launch_description.add_action(process_under_test)
launch_description.add_action(
ExecuteProcess(
cmd=[
'@API_COMPOSITION_CLI_EXECUTABLE@',
'ros2', 'component', 'load', '/ComponentManager',
'composition', 'composition::Server'
],
name='load_server_component'
Expand All @@ -43,7 +43,7 @@ def generate_test_description():
launch_description.add_action(
ExecuteProcess(
cmd=[
'@API_COMPOSITION_CLI_EXECUTABLE@',
'ros2', 'component', 'load', '/ComponentManager',
'composition', 'composition::Client'
],
name='load_client_component'
Expand Down
24 changes: 15 additions & 9 deletions composition/test/test_api_srv_composition_client_first.py.in
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ import unittest

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import TimerAction

import launch_testing
import launch_testing.actions
Expand All @@ -26,28 +27,33 @@ import launch_testing_ros
def generate_test_description():
launch_description = LaunchDescription()
process_under_test = ExecuteProcess(
cmd=['@API_COMPOSITION_EXECUTABLE@'],
cmd=['ros2', 'run', 'rclcpp_components', 'component_container'],
name='test_api_composition',
output='screen'
)
launch_description.add_action(process_under_test)
launch_description.add_action(
ExecuteProcess(
cmd=[
'@API_COMPOSITION_CLI_EXECUTABLE@',
'ros2', 'component', 'load', '/ComponentManager',
'composition', 'composition::Client'
],
name='load_client_component'
)
)
launch_description.add_action(
ExecuteProcess(
cmd=[
'@API_COMPOSITION_CLI_EXECUTABLE@',
'composition', 'composition::Server',
'--delay', '5000'
],
name='load_server_component'
TimerAction(
period=5.0,
actions=[
ExecuteProcess(
cmd=[
'ros2', 'component',
'load', '/ComponentManager',
'composition', 'composition::Server',
],
name='load_server_component'
)
]
)
)
launch_description.add_action(
Expand Down